Flying vehicle systems and methods

ABSTRACT

An example charging station for an unmanned aerial vehicle (UAV), the charging station generally including a nest and a charging device. The nest includes an upper portion and a lower portion. The upper portion defines an upper opening sized and shaped to receive a landing apparatus of the UAV, and a diameter of the nest reduces from a first diameter at the upper opening to a second diameter at the lower portion. The charging device is mounted in the nest, and includes a first contact pad and a second contact pad. The charging device is configured to apply a voltage differential across the first contact pad and the second contact pad such that the charging station is operable to charge a power supply of the UAV via the landing apparatus.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application claims the benefit of U.S. Provisional PatentApplication No. 63/005,652, filed Apr. 6, 2020, the contents of whichare incorporated by reference in their entirety.

TECHNICAL FIELD

The present disclosure generally relates to flying vehicles, and moreparticularly but not exclusively relates to systems and methods relatingto unmanned aerial vehicles (UAVs) and unmanned aerial systems (UASs).

BACKGROUND

The use of unmanned aerial vehicles (UAVs) is currently on the rise formany applications, including those such as surveillance, photography,filming, and package delivery. However, many existing UAV devices andsystems suffer from certain drawbacks and limitations. As one example,while certain existing delivery drones include a winch operable to lowerthe package via a line attached to the winch, many such delivery UAVslower the package at a constant velocity. Should the velocity be toohigh, the package may become damaged by impact with the ground. Shouldthe velocity be too low, the delivery time will be unnecessarilyextended. Moreover, should the line become caught or tangled, the UAVmay be prevented from completing its mission and/or returning to itspoint of origin.

As another example, certain existing UAV operating methods involvelanding the UAV on a flat landing pad. However, these operating methodstypically require that the UAV be controlled with relatively lowtolerances, particularly in instances in which the landing pad isrelatively small and/or is mounted to a moving vehicle. As a result,more complex control algorithms may be required to ensure that the UAVlands within a relatively small zone, which may present a moving target.

As a further example, certain UAVs require that the battery be removedfor charging, or that a charge cord be attached to the UAV for chargingthe battery. In situations that require removal of the battery, the UAVloses power while the battery is removed, and must reboot when a newbattery is installed. In situations that require a charge cord beattached, the operator must perform the extra step of attaching the cordin order for the battery to begin charging. In either event, theoperator must take some positive action to begin the charging process,which can be time-consuming and/or laborious, and which may result inmaterial wear and cause material failure. Moreover, when the UAV mustreboot after installation of a new battery, the process of rebooting canbe time-consuming.

As should be evident from the foregoing, existing UAV systems andmethods suffer from a variety of drawbacks and limitations. For thesereasons among others, there remains a need for further improvements inthis technological field.

SUMMARY

An exemplary unmanned aerial vehicle (UAV) includes a chassis, a powersupply mounted to the chassis, a control system operable to receivepower from the power supply, and at least one rotor operable to generatelift under control of the control system. In certain embodiments, theUAV further comprises at least one auxiliary system, such as a carriage,a winch, or a surveillance mechanism.

An example charging station for an unmanned aerial vehicle (UAV), thecharging station generally including a nest and a charging device. Thenest includes an upper portion and a lower portion. The upper portiondefines an upper opening sized and shaped to receive a landing apparatusof the UAV, and a diameter of the nest reduces from a first diameter atthe upper opening to a second diameter at the lower portion. Thecharging device is mounted in the nest, and includes a first contact padand a second contact pad. The charging device is configured to apply avoltage differential across the first contact pad and the second contactpad such that the charging station is operable to charge a power supplyof the UAV via the landing apparatus. Further embodiments, forms,features, and aspects of the present application shall become apparentfrom the description and figures provided herewith.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a perspective illustration of an unmanned aerial vehicle (UAV)according to certain embodiments.

FIG. 2 is a perspective illustration focused on a chassis of the UAVillustrated in FIG. 1.

FIG. 3 is a perspective illustration focused on an arm of the UAVillustrated in FIG. 1.

FIG. 4 is a perspective illustration focused on a landing apparatus ofthe UAV illustrated in FIG. 1.

FIG. 5a is a plan view of the landing apparatus in an inward-facingarrangement.

FIG. 5b is a plan view of the landing apparatus in an outward-facingarrangement.

FIG. 6 is a perspective illustration focused on a support structure ofthe UAV illustrated in FIG. 1.

FIG. 7 is a schematic block diagram of the UAV illustrated in FIG. 1.

FIG. 8 is a perspective illustration focused on a carriage of the UAVillustrated in FIG. 1.

FIG. 9 is a schematic perspective illustration of a docking stationaccording to certain embodiments.

FIG. 10 is a schematic plan view of a portion of the docking stationillustrated in FIG. 9.

FIG. 11 is a partial cutaway view illustrating the UAV of FIG. 1 landingin the docking station illustrated in FIG. 9.

FIG. 12 is a perspective illustration of a winch mechanism according tocertain embodiments.

FIG. 13 is cross-sectional view of a reel of the winch mechanismillustrated in FIG. 12.

FIG. 14 is a perspective illustration of an attachment device accordingto certain embodiments.

FIG. 15 is a schematic flow diagram of a load delivery process accordingto certain embodiments.

FIG. 16 illustrates the UAV of FIG. 1 delivering a load during theprocess illustrated in FIG. 15.

FIG. 17 is a schematic flow diagram of a battery replacement processaccording to certain embodiments.

FIG. 18 is a schematic illustration of a product line according tocertain embodiments.

FIG. 19 is a perspective illustration of a landing apparatus accordingto certain embodiments.

FIG. 20 is a plan view of the landing apparatus illustrated in FIG. 19.

FIG. 21 is a schematic representation of a base station according tocertain embodiments, which includes a docking station according tocertain embodiments.

FIG. 22 is a schematic representation of a delivery vehicle according tocertain embodiments.

FIG. 23 is a schematic flow diagram of a delivery process according tocertain embodiments.

FIG. 24 is a perspective illustration of a UAV according to certainembodiments.

FIGS. 25a-25d are cross-sectional illustrations of nests according tocertain embodiments.

FIG. 26 is a perspective view of a latching mechanism according tocertain embodiments.

FIG. 27 illustrates the latching mechanism in an unlatching state.

FIG. 28 illustrates the latching mechanism in a latching state.

FIG. 29 is an exploded assembly view of a carriage lock mechanismaccording to certain embodiments.

FIG. 30 is a perspective illustration of the carriage lock mechanisminstalled to the carriage of FIG. 8.

FIG. 31 is a cutaway view of the carriage lock mechanism in a locking orcapturing state.

FIG. 32 is a cutaway view of the carriage lock mechanism in an unlockingor releasing state.

FIG. 33 is a schematic block diagram of a computing device according tocertain embodiments.

DETAILED DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS

Although the concepts of the present disclosure are susceptible tovarious modifications and alternative forms, specific embodiments havebeen shown by way of example in the drawings and will be describedherein in detail. It should be understood, however, that there is nointent to limit the concepts of the present disclosure to the particularforms disclosed, but on the contrary, the intention is to cover allmodifications, equivalents, and alternatives consistent with the presentdisclosure and the appended claims.

References in the specification to “one embodiment,” “an embodiment,”“an illustrative embodiment,” etc., indicate that the embodimentdescribed may include a particular feature, structure, orcharacteristic, but every embodiment may or may not necessarily includethat particular feature, structure, or characteristic. Moreover, suchphrases are not necessarily referring to the same embodiment. It shouldfurther be appreciated that although reference to a “preferred”component or feature may indicate the desirability of a particularcomponent or feature with respect to an embodiment, the disclosure isnot so limiting with respect to other embodiments, which may omit such acomponent or feature. Further, when a particular feature, structure, orcharacteristic is described in connection with an embodiment, it issubmitted that it is within the knowledge of one skilled in the art toimplement such feature, structure, or characteristic in connection withother embodiments whether or not explicitly described.

Additionally, it should be appreciated that items included in a list inthe form of “at least one of A, B, and C” can mean (A); (B); (C); (A andB); (B and C); (A and C); or (A, B, and C). Similarly, items listed inthe form of “at least one of A, B, or C” can mean (A); (B); (C); (A andB); (B and C); (A and C); or (A, B, and C). Items listed in the form of“A, B, and/or C” can also mean (A); (B); (C); (A and B); (B and C); (Aand C); or (A, B, and C). Further, with respect to the claims, the useof words and phrases such as “a,” “an,” “at least one,” and/or “at leastone portion” should not be interpreted so as to be limiting to only onesuch element unless specifically stated to the contrary, and the use ofphrases such as “at least a portion” and/or “a portion” should beinterpreted as encompassing both embodiments including only a portion ofsuch element and embodiments including the entirety of such elementunless specifically stated to the contrary.

In the drawings, some structural or method features may be shown incertain specific arrangements and/or orderings. However, it should beappreciated that such specific arrangements and/or orderings may notnecessarily be required. Rather, in some embodiments, such features maybe arranged in a different manner and/or order than shown in theillustrative figures unless indicated to the contrary. Additionally, theinclusion of a structural or method feature in a particular figure isnot meant to imply that such feature is required in all embodiments and,in some embodiments, may be omitted or may be combined with otherfeatures.

The disclosed embodiments may, in some cases, be implemented inhardware, firmware, software, or a combination thereof. The disclosedembodiments may also be implemented as instructions carried by or storedon one or more transitory or non-transitory machine-readable (e.g.,computer-readable) storage media, which may be read and executed by oneor more processors. A machine-readable storage medium may be embodied asany storage device, mechanism, or other physical structure for storingor transmitting information in a form readable by a machine (e.g., avolatile or non-volatile memory, a media disc, or other media device).

With reference to FIG. 1, illustrated therein is a drone or unmannedaerial vehicle (UAV) 100 according to certain embodiments. The UAV 100has a central axis 101 (FIG. 2), and generally includes a chassis 110, aplurality of arms 120 extending outward from the chassis 110, a landingapparatus 130 extending downward from the chassis 110, and a supportstructure 140 positioned atop the chassis 110. As described herein, thechassis 110 has mounted therein a control system 150 and an onboardpower supply 160 operable to provide electrical power to the controlsystem 150 and other electronic components of the UAV 100. In certainembodiments, the UAV 100 may further include one or more auxiliarysystems 170, such as a carriage 180.

With additional reference to FIG. 2, the chassis 110 defines a centralhousing 112 in which at least a portion of the control system 150 ismounted. The chassis 110 includes at least one battery compartment 114,each of which is operable to receive a battery 162 of the onboard powersupply 160. The compartment(s) 114 may be defined in part by the landingapparatus 130. For example, each compartment 114 may be defined at leastin part by a floor 118 that is coupled to the legs 132 of the landingapparatus 130, and which provides vertical support for the correspondingbattery 162. Each compartment 114 may be further defined by one or morerails 117 (FIG. 4) that confine lateral shifting of the battery 162.Each compartment 114 is configured to receive sliding insertion of acorresponding one of the batteries 162, and includes a latch mechanism115 configured to releasably lock the corresponding battery 162 withinthe compartment 114. As described herein, the illustrated power supply160 comprises two batteries 162, including a first battery 162 a and asecond battery 162 b. As such, the at least one battery compartment 114includes a first battery compartment 114 a sized and shaped to receivethe first battery 162 a and a second battery compartment 114 b sized andshaped to receive the second battery 162 b. Further details regarding anexample form of the latch mechanism 115 are provided below withreference to FIGS. 26-28.

With additional reference to FIG. 3, each arm 120 generally includes aninward end portion 122 connected with the chassis 110 and an oppositeoutward end portion 124, and a body portion 123 extends between andconnects the inward end portion 122 and the outward end portion 124.Mounted to the outward end portion 124 of each arm 120 is a rotor 126operable to generate lift for the UAV 100 under control of the controlsystem 150. As is typical in UAVs of this type, the rotor 126 generallyincludes a propeller blade 128 and a motor 127 configured to rotate theblade 128 to generate lift under control of the control system 150, andmay further include an electronic control system (ECS). In theillustrated form, the UAV 100 includes four arms 120. It is alsocontemplated that the UAV 100 may include more or fewer arms 120.

With additional reference to FIG. 4, the landing apparatus 130 generallyincludes a plurality of legs 132. Each leg 132 has an upper end portionconnected with the chassis 110, and extends downward to a foot 134. Incertain embodiments, one or more of the feet 134 may have a shoe mountedthereon, for example as described below with reference to FIGS. 18-20.Each foot 134 includes a heel 135 connected with the leg 132 and a toe136 extending from the heel 135. The landing apparatus 130 iselectrically connected with the control system 150 and/or the powersupply 160 such that the power supply 160 can be charged via the landingapparatus 130. More particularly, each leg 132 includes a contactsurface 137 that is electrically connected with the power supply 160 viaa corresponding electrical conduit 138. In the illustrated form, thecontact surfaces 137 are defined by the feet 134, and each leg 132 isformed of an electrically conductive material and defines the electricalconduit 138. It is also contemplated that the contact surfaces 137 andconduits 138 may be provided in another form. As one example, thecontact surfaces 137 may be provided as contact pads that are mounted tothe feet 134, and the electrical conduits may be provided as wires thatrun from the contact pads to the respective points of connection withthe control system 150 and/or power supply 160.

With additional reference to FIG. 5a , illustrated therein is oneexemplary arrangement for the landing apparatus 130. In thisarrangement, an outer perimeter 139 is defined about the heels 135 ofthe feet 134, and a central axis 131 of the landing apparatus 130 isdefined at a center of the perimeter 139. While other forms arecontemplated, in the illustrated embodiment, the landing apparatuscentral axis 131 is generally coincident with the UAV central axis 101.For purposes of illustration, also illustrated in FIG. 5a are a firstaxis X and a second axis Y that meets the first axis X at the centralaxis 131 such that the axes X, Y, 131 are mutually orthogonal. Thearrangement illustrated in FIG. 5a is an inward-facing arrangement, inwhich each toe 136 extends from the corresponding heel 135 in adirection generally toward the origin point at which the axes X, Y, 131meet. As a result, each foot 134 and each toe 136 is contained withinthe outer perimeter 139. It is also contemplated that the feet 134 maybe contained within the outer perimeter 139 in another configuration. Byway of example, each foot 134 may extend from the heel 135 to the toe136 in a direction generally toward the first axis X, or in a directiongenerally toward the second axis Y. With the feet 134 contained withinthe outer perimeter 139, an effective diameter d130 of the landingapparatus 130 is defined between the radially-outer sides of the heels135.

With additional reference to FIG. 5b , illustrated therein is anotherexample arrangement for the landing apparatus 130, in which the outerperimeter 139 is again defined about the heels 135. The arrangementillustrated in FIG. 5b is an outward-facing arrangement, in which eachtoe 136 extends from the corresponding heel 135 in a direction generallyaway from the origin point. As a result, each foot 134 extends beyondthe outer perimeter 139 defined by the heels 135. It is alsocontemplated that the feet 134 may extend beyond the outer perimeter 139in another configuration. By way of example, each foot 134 may extendfrom the heel 135 to the toe 136 in a direction generally away from thefirst axis X, or in a direction generally away from the second axis Y.With the feet 134 extending beyond the outer perimeter 139, an effectivediameter d130′ of the landing apparatus 130 is defined between theradially-outer sides of the toes 136. Due to the differing orientationsof the feet 134, the effective diameter d130′ of the outward-facingarrangement illustrated in FIG. 5b is greater than the effectivediameter d130 of the inward facing arrangement illustrated in FIG. 5 a.

With additional reference to FIG. 6, the support structure 140 ismounted to the chassis 110, and generally includes an apex region 142and a plurality of struts 144 extending between the apex region 142 andthe arms 120. The apex region 142 may define a seat 143 sized and shapedto receive an outward-facing ranging-and-detection device 154 a of thecontrol system 150. Each strut 144 includes an outer end portion 145, aninner end portion 147, and a strut body 146 extending between andconnecting the outer end portion 145 and the inner end portion 147. Eachouter end portion 145 is connected to the inner end portion 122 of acorresponding one of the arms 120, and the inner end portions 147 arejoined to one another at the apex region 142.

In the illustrated form, the struts 144 are provided as two pairs ofstruts 144, with each pair of struts 144 defining a corresponding andrespective arch 141. It is also contemplated that the struts 144 maymeet at the apex region 142 in another manner. By way of example, theapex region 142 may be provided as an annular apex region to which eachinner end portion 147 is coupled (e.g., by welding). In the illustratedform, each strut body 146 is curved. It is also contemplated that one ormore of the strut bodies 146 may be straight. Each strut body 146 mayinclude one or more openings 148, one or more of which may be defined inpart by a reinforcing rib 149. The openings 148 may serve to reduce theweight of the support structure 140 while the reinforcing ribs 149 serveto maintain the structural integrity of the support structure 140.Further details regarding the support structure 140 and the functionthereof are provided herein.

It has been found that during operation of a UAV such as the UAV 100,the thrust generated by operation of the rotors 126 can generatesignificant bending moments on the chassis 110. More particularly, thesebending moments generally urge the outer portions of the chassis 110(e.g., the locations at which the inward end portions 122 are connectedto the chassis 110) toward the vertical axis 101. In the illustrated UAV100, however, these bending moments are counteracted by the supportstructure 140, such that the support structure 140 provides additionalstructural rigidity to the chassis 110. As a result, the chassis 110experiences less stress and strain, each of which can lead to unwantedfatigue and potential failure.

With additional reference to FIG. 7, the control system 150 generallyincludes a controller 152, one or more ranging-and-detection devices(RADs) 154, and a sensor array 156, and may further include one or morewireless communication devices 158. The control system 150 is incommunication with the rotors 126 and is connected with the power supply160 such that the controller 152 is operable to control the motors 127to generate lift to fly the UAV 100. The control system 150 may beconfigured to control the rotors 126 to control the flight envelope ofthe UAV 100. The control system 150 may be configured to provide forprotection of the flight envelope by avoiding obstacles, for exampleusing the ranging-and-detection device(s) 154. In embodiments thatinclude the auxiliary system(s) 170, the control system 150 may furtherbe in communication with the auxiliary system(s) 170 to receiveinformation from and/or control operation of the auxiliary system(s)170.

The ranging-and-detection devices 154 may include an outward-facingranging-and-detection device 154 a operable to sense obstacles in theflight path of the UAV 100 and/or a downward-facingranging-and-detection device 154 b operable to sense a distance betweenthe UAV 100 and the ground. As noted above, the outward-facingranging-and-detection device 154 a may be mounted in the seat 143defined by the apex region 142 of the support structure 140, and may beutilized to aid in providing flight envelope protection for the UAV. Thedownward-facing ranging-and-detection device 154 b may be mounted to theunderside of the chassis 110. Each of the ranging-and-detection devices154 may, for example, be provided as radar-type, optical camera devices,infrared detection devices, or LIDAR-type ranging-and-detection devices.In certain embodiments, optical and infrared detection devices mayemploy the use of active emitters, such as visible-spectrumsearchlights, and non-visible spectrum lights. In certain embodiments, aranging-and-detection device 154 may utilize binocular stereo visiontechnology.

The sensors of the sensor array 156 may be of any type typical tounmanned aerial vehicles, and the information generated by the sensorsmay be used to aid in the control of the UAV 100 and/or other vehicleson the ground or in the air. By way of non-limiting example, the sensorarray 156 may include an inertial sensor 156 a, a gyroscopic sensor 156b, and/or a global positioning system (GPS) chip 156 c. The inertialsensor 156 a may, for example, take the form of a gyroscopic sensor oran accelerometer. In certain embodiments, the sensor array 156 mayinclude an altitude sensor operable to sense the current altitude of theUAV 100. In certain embodiments, the sensor array 156 may include abattery level sensor operable to sense the charge level of the batteries162. In certain embodiments, the sensor array 156 may include one ormore of an Automated Dependent Surveillance Broadcast (ADSB) sensor,legacy 4056 aviation transponder sensors, Terminal Collision andAvoidance System (TCAS) sensors, Enhanced Ground Proximity WarningDevice (EGPWS) sensors, and/or laser-gyroscope sensors. Additionally oralternatively, the sensor array 156 may include one or more of amagnetometer, a barometer, and/or an airspeed sensor. The sensor array156 may additionally or alternatively include one or more of currentsensors, one or more voltage sensors, and/or one or more temperaturesensors.

The wireless communication device(s) 158 facilitate communicationbetween the controller 152 and one or more external devices 190. By wayof non-limiting example, one or more of the wireless communicationdevice(s) 158 may be provided as a radio frequency (RF) wirelesscommunication device 158 a configured to facilitate communicationbetween the control system 150 and the external device 190 via radiofrequency electromagnetic radiation. In certain embodiments, an RFwireless communication device 158 a may be configured to communicateover the 915 MHz band. Additionally or alternatively, an RF wirelesscommunication device 158 a may be configured to communicate over the 2.4GHz band (e.g., WiFi). In certain embodiments, the wirelesscommunication device(s) 158 may include a Wi-Fi chip 158 b operable tofacilitate communication between the control system 150 and the externaldevice 190 via Wi-Fi wireless communication protocols. In certainembodiments, the wireless communication device(s) 158 may include aBluetooth chip 158 c operable to facilitate communication between thecontrol system 150 and the external device 190 via Bluetooth wirelesscommunication protocols. In certain embodiments, the wirelesscommunication device(s) 158 may include a cellular network communicationdevice 158 d. It is also contemplated that the wireless communicationdevice(s) 158 may include one or more wireless communication devices ofanother form.

In the illustrated form, the onboard power supply 160 includes aplurality of batteries 162, including at least a first battery 162 a anda second battery 162 b. Each battery 162 is configured for slidinginsertion into the corresponding one of the battery compartments 114 andto engage the latch 115 such that the latch 115 lockingly engages thebattery 162 when the battery 162 is fully inserted. In certainembodiments, the batteries 162 may be interchangeable such that eachbattery 162 is operable to be inserted to each battery compartment 114.In certain embodiments, the batteries 162 may be connected with thecontrol system 150 such that the control system 150 is operable toremain active upon removal of one battery 162 while the other battery162 remains installed. Further details regarding the charging andreplacement of the batteries 162 are provided herein. The control system150 and/or the power supply 160 may be electrically connected with thelanding apparatus 130 such that the UAV 100 is operable to charge thebatteries 162 via the landing apparatus 130 when the landing apparatus130 is engaged with a docking station 200 including a charging device220. Further details regarding an example form for the docking station200 are provided below with reference to FIGS. 9-11.

As noted above, the UAV 100 may include at least one auxiliary system170, which may be electrically connected and/or otherwise incommunication with the control system 150. The auxiliary system(s) 170may, for example, be installed to the underside of the chassis 110. Incertain forms, the auxiliary system(s) 170 may include at least oneadditional battery compartment 114 to which an additional battery 162may be installed to increase the time that the UAV is operable to remainairborne. In certain embodiments, the auxiliary system(s) 170 mayinclude a surveillance device 172 (e.g., a camera) by which the UAV 100can surveil an area. In certain embodiments, the auxiliary system(s) 170may include an emergency descent device 174, such as a parachute. Incertain embodiments, the auxiliary system(s) 170 may include a carriage180 operable to hold a load (e.g., a package) to be carried and/ordelivered by the UAV 100. In certain embodiments, the auxiliarysystem(s) 170 may include a winch mechanism 300 operable to raise andlower loads. Further details regarding exemplary auxiliary systems 170are provided herein.

With additional reference to FIG. 8, the illustrated carriage 180 ismounted to the underside of the chassis 110, and generally includes afirst grip 181, a second grip 184, and a motor 188 operable to causemovement of the second grip 184. A receiving space 189 is definedbetween the grips 181, 184, and is operable to receive a load such as apackage to be carried and/or delivered by the UAV 100. The first grip181 includes a first grip pad 182 and a pair of arms 183 to which thefirst grip pad 182 is mounted. The second grip 184 includes a secondgrip pad 185 that is mounted to a pair of pivot arms 186 and a retentionarm 186′. The pivot arms 186 are pivotably attached to a mountingbracket 187 such that the second grip 184 is pivotable in each of acapturing direction and a releasing direction, and the retention arm186′ is engaged with the motor 188 via a carriage lock mechanism 1100that selectively prevents pivoting of the retention arm 186′. Asdescribed in further detail with respect to FIGS. 29-31, the carriagelock mechanism 1100 is configured to selectively lock the second grip184 in a capturing position, and to selectively release the second grip184 for pivoting to a releasing position.

Pivoting of the second grip 184 in the capturing direction (e.g., fromthe releasing position toward the capturing position) causes contractionof the receiving space 189 such that the load can be captured betweenthe grips 181, 184. Pivoting of the second grip 184 in the releasing(e.g., from the capturing position toward the releasing position)direction causes expansion of the receiving space 189 such that the loadcan be released from the carriage 180. In certain forms, such as thosethat do not include the winch mechanism 300, release of the load maysimply cause the load to drop under freefall conditions. In otherembodiments, such as those that include the winch mechanism 300, releaseof the load may cause a controlled descent of the load under control ofthe winch mechanism 300, for example as described below with referenceto FIGS. 15 and 16.

In the illustrated form, the first grip 181 provides a mechanical anchorpoint against which the load can by urged by the second grip 184, and isnot controlled by the control system 150. In other embodiments, thefirst grip 181 may be operable to move under control of the controlsystem 150. As one example, the first grip 181 may be operably coupledwith the motor 188 such that the motor 188 is operable to cause orpermit pivoting of the first grip 181. As another example, the carriage180 may include a second motor, and movement of the first grip 181 maybe controlled by such a motor. Additionally, while the illustratedsecond grip 184 is configured to pivot under control of the motor 188,it is also contemplated that expansion and contraction of the receivingspace 189 may be provided in another manner. As one example, the secondgrip 184 may be provided with a rack-and-pinion device that causes themotor 188 to linearly drive the second grip 184 and/or the first grip181 for expansion and contraction of the receiving space 189.

With additional reference to FIGS. 9 and 10, illustrated therein is adocking station 200 according to certain embodiments, which in theillustrated form is provided as a charging station 200. The chargingstation 200 generally includes a nest 210 and a charging device 220mounted in the nest 210, and may further include a base 202 to which thenest 210 is mounted. As described herein, the nest 210 aids in aligningthe UAV 100 during landing, and the charging device 220 is operable tocharge the onboard power supply 160 via the landing apparatus 130. Whilethe illustrated device is provided as a charging station 200 thatincludes the charging device 220, it is also contemplated that thecharging device 220 may be omitted, resulting in a non-charging dockingstation 200.

The nest 210 has a central axis 211, an upper portion 212, and a lowerportion 214, and is defined by at least one sidewall 219 that is angledor curved relative to the central axis 211 such that the upper portion212 is larger in diameter than the lower portion 214. The upper portion212 defines an upper opening 213 having an upper opening diameter d213that is greater than the landing apparatus effective diameter d130. Theupper opening diameter d213 may, for example, be in a range of 50%larger to 200% larger than the landing apparatus effective diameterd130. The lower portion 214 may include a lower surface 215 having alower surface diameter d215. In certain embodiments, the lower surfacediameter d215 may be less than the landing apparatus effective diameterd130 such that the landing apparatus 130 cannot fit within the lowersurface 215, and instead must contact the inner surface of the sidewall219. In other embodiments, the lower surface diameter d215 may begreater than the landing apparatus effective diameter d130 such that thelanding apparatus 130 is capable of fitting onto the lower surface 215.Furthermore, while the illustrated nest 210 has a lower surface 215, itis also contemplated that the nest 210 may instead come to a point. Asdescribed herein, it is also contemplated that the lower surface 215 maybe omitted such that the bottom of the nest 210 is at least selectivelyopen to permit access to the underside of the chassis 110, for exampleas described below with reference to FIG. 21.

In the illustrated form, the nest 210 is defined by a singlefrustoconical sidewall 219 that defines an oblique angle θ219 relativeto the central axis 211. It is also contemplated that the nest 210 mayhave another configuration. As one example, the nest 210 may instead bedefined by a plurality of planar, trapezoidal or triangular sidewallsthat are joined such that the smaller ends define the lower portion 214and the larger ends define the upper portion 216. Additionally oralternatively, the one or more sidewalls 219 may be curved relative tothe central axis 211. Various dimensions of the nest 210, such as theheight h210 and the oblique angle θ219, may be selected so as to notinterfere with the rotors 126 and/or the arms 120 during landing of theUAV 100. In the illustrated form, the oblique angle θ219 is greater than45° such that the nest 210 expands relatively rapidly along the centralaxis 211. In other forms, the oblique angle θ219 may be less than 45°such that the nest 210 expands relatively slowly along the central axis211. In further embodiments, the central angle θ219 may be about 45°(e.g., from 40° to 50°).

The charging device 220 includes a first contact pad 222 and a secondcontact pad 224, and the contact pads 222, 224 are electrically isolatedfrom one another. For example, one or more electrically insulatingregions 223 may be provided between the contact pads 222, 224. In theillustrated form, the contact pads 222, 224 are provided on the innersurface of the sidewall(s) 219, and do not extend to the lower surface215. In certain embodiments, one or both of the contact pads 222, 224may extend onto the lower surface 215. In certain embodiments, such asthose in which the lower surface diameter d215 is greater than thelanding apparatus diameter d130, the contact pads 222, 224 may beprovided entirely on the lower surface 215.

The charging device 220 includes or is configured for connection with apower source 204, for example via a plug 229. In certain embodiments,the charging device 220 may include the power source 204, such as inembodiments in which the power source 204 is provided in the form of abattery, a generator, a solar panel, or another form of power sourcethat can be provided with the charging station 200. Additionally oralternatively, the charging device 220 may be configured for connectionwith the power source 204, such as in embodiments in which the powersource 204 is provided as line power or the battery of a vehicle towhich the charging station 200 is mounted. When connected with the powersource 204, the charging device 220 is operable to generate a voltagedifferential across the first contact pad 222 and the second contact pad224 such that the UAV is operable to draw electrical power from thecharging device 220. In certain embodiments, the charging device 220 mayfurther include one or more sensors. As one example, one or more sensorsmay be used to determine when to start charging the UAV 100. As anotherexample, one or more sensors may be used to regulate the rate of chargeaccording to the needs of the batteries 162. As another example, one ormore sensors may be used to stop charging and transition to abattery-maintenance function at the appropriate time.

With additional reference to FIG. 11, the UAV 100 is operable to landwithin the nest 210. In certain embodiments, such as those in which theUAV 100 is remotely controlled by a user, the UAV 100 may land in thenest 210 under remote control of the user. In certain embodiments, suchas those in which the UAV 100 is autonomous, the control system 150 maybe programmed to autonomously land the UAV 100 within the nest 210. Inorder to aid such autonomous landing, the charging station 200 and/orthe nest 210 may include a landing assistance device 206. While theillustrated landing assistance device 206 is provided within the nest210, it is also contemplated that the landing assistance device 206 maybe provided at another location having a known position and/ororientation relative to the nest 210.

In certain embodiments, the landing assistance device 206 may includeactive features. For example, the landing assistance device 206 mayinclude one or more beacons that provide electromagnetic homing signals(e.g., radio signals, infrared signals, visible light signals, orsignals of other wavelengths). In such forms, the UAV 100 may beconfigured to receive such homing signals (e.g., via one or more of thesensors of the sensor array 156), and the control system 150 may beprogrammed to land in the nest 210 based upon such homing signals.

In addition or as an alternative to the active features, the landingassistance device 206 may include passive features. For example, thelanding assistance device 206 may include a barcode that providesposition information to the UAV 100. In such forms, the sensor array 156may include a camera or other optical detector operable to provide tothe control system 150 information relating to the passive feature(s),and the control system 150 may be programmed to land in the nest 210based upon the position and/or orientation information provided by thebarcode. In certain forms, the barcode may be provided as atwo-dimensional barcode, such as a Quick Response (QR) code or anotherform of two-dimensional barcode. One advantage of such two-dimensionalbarcodes is the ability to provide orientation information in additionto position information. As a result, such forms of the landingassistance device 206 may aid the UAV 100 in landing in a givenorientation. By way of example, if a first of the legs 132 iselectrically connected with a positive terminal of the power supply 160and a second of the legs 132 is electrically connected with a negativeterminal of the power supply 160, the orientation information may aidthe UAV in landing in an orientation in which each of the first leg 132and the second leg 132 is in contact with the appropriate one of thecontact pads 222, 224.

As noted above, certain existing UAV systems and methods provide a flatsurface such as a landing pad on which the UAV is intended to land.Regardless of whether the UAV is user-controlled or autonomous, theillustrated docking station 200 may provide for certain advantages oversuch prior art UAV base stations. For example, such prior art landingpads typically require that the control of the UAV be precise so as toland the UAV at a central position on the landing pad. As noted above,however, the upper opening diameter d213 is greater than the landingapparatus effective diameter d130, and the nest 210 tapers or curvesinward from this larger diameter to a smaller diameter. It may be thecase that the UAV 100 is off-center during its initial contact with thenest 210. For example, the UAV central axis 101 and/or the landingapparatus central axis 131 may be offset from the nest central axis 211.In such circumstances, the tapered or curved sidewall(s) 219 will urgethe UAV 100 toward the central axis 211 of the nest 210 as the UAV 100descends. Thus, the upper opening 213 provides the UAV with a largertarget area or strike zone that can be hit during the landing process,while the tapered or curved sidewall(s) 219 ensure that the finalposition of the UAV 100 is substantially centered. As a result, thedocking station 200 may obviate the need for tight controls andheightened precision during the final approach.

As should be appreciated, there is an acceptable margin of error incentering of the UAV 100. Should the acceptable margin of error beexceeded, one or more of the feet 134 will land outside of the nest 210,resulting in a failed landing and potential damage to the UAV 100. Thoseskilled in the art will readily appreciate that this margin of errorcorresponds to the difference between the landing apparatus effectivediameter d130 and the upper opening diameter d213. For a nest 210 havinga given upper opening diameter d213, one manner in which the acceptablemargin of error can be increased is by decreasing the landing apparatuseffective diameter d130. Thus, it may be advantageous to provide thelanding apparatus 130 with an inward-facing arrangement (such as thatillustrated in FIG. 5a ) as opposed to an outward-facing arrangement(such as that illustrated in FIG. 5b ).

As noted above, each leg 132 includes a contact surface 137 that isconnected with the power supply 160 via an electrical conduit 138. Whenthe UAV 100 is received in in the nest 210, each of the contact pads222, 224 is in contact with one or more of the contact surfaces 137.Thus, the charging device 220 is electrically connected with the powersupply 160 via the contact surfaces 137 and the electrical conduits 138.In the illustrated form, the contact surfaces 137 are defined by thefeet 134, which are provided with an inward-facing arrangement such asthat shown in FIG. 5a . In addition to providing a greater acceptablemargin of error, inward-facing arrangements for the landing apparatus130 may have the further advantage of increasing the area of contactbetween each foot 134 and the corresponding contact pad 222, 224. Forexample, the contact surfaces 137 may be defined on the heels 135, whichmay be angled or curved so as to conform more closely to the geometry ofthe contact pads 222, 224. As should be appreciated, increasing the areaof contact between the contact surfaces 137 and the contact pads 222,224 facilitates transmission of electrical current by reducing theelectrical resistance at the interface between the contact surfaces 137and the contact pads 222, 224, thereby increasing the efficiency andrapidity of the charging process.

With additional reference to FIG. 12, illustrated therein is a winchmechanism 300 according to certain embodiments. The illustrated winchmechanism 300 generally includes a mounting bracket 302, a reel 310rotatably mounted to the mounting bracket 302, a motor 320 operable torotate the reel 310, a severing device 330 mounted to the mountingbracket 302, a line 340 mounted to the reel 310 and extending throughthe severing device 330, and a sensor array 350 operable to sensevarious operating parameters of the winch mechanism 300, and may furtherinclude an attachment device 360 attached to a free end 342 of the line340. As noted above, the winch mechanism 300 is in communication withthe control system 150, and is operable to raise and/or lower a loadunder the control of the control system 150. As described herein, thewinch mechanism 300 may be mounted to the chassis 110 in the vicinity ofthe carriage 180 such that the winch mechanism 300 is operable tocontrol the descent of a load upon release of the load by the carriage180.

The reel 310 is rotatably mounted to the mounting bracket 302, and isoperably connected with a motor shaft 322 of the motor 320 such that themotor 320 is operable to control rotation of the reel 310 about arotation axis 311. The reel 310 includes a circumferential channel 312in which the line 340 is wound onto the reel 310. While other forms arecontemplated, in the illustrated form, the winch mechanism 300 ismounted to the chassis 110 with the reel 310 in a horizontal orientationsuch that the rotation axis 311 is a vertical rotation axis.

With additional reference to FIG. 13, the illustrated reel 310 isprovided as a two-piece reel, and includes a base portion 314 and acover portion 316, each of which partially defines the circumferentialchannel 312. The base portion 314 includes a circumferential ridge 315,and the cover portion 316 includes a circumferential groove 313 thatfaces an apex of the ridge 315, thereby defining a narrow, somewhattortuous passage 317 of the circumferential channel 312. The passage 317connects a radially inner portion 318 of the channel 312 with a radiallyouter portion 319 of the channel 312. The inner portion 318 has an innerportion width w318, the passage 317 has a passage width w317 less thanthe inner portion width w318, and the outer portion 319 tapers inwardfrom a maximum outer portion width w319 to the passage width w317. Whenthe line 340 is wound onto the reel 310, the majority of the line 340 isseated in the radially inner portion 318, and a portion of the line 340extends through the passage 317. As described herein, the passage 317may aid in discouraging tangling of the line 340 as the line 340 isunspooled from the reel 310.

The motor 320 includes a motor shaft 322, and is operable to controlrotation of the motor shaft 322. As noted above, the motor shaft 322 iscoupled with the reel 310 such that the motor 320 is operable to controlrotation of the reel 310. In the illustrated form, the motor shaft 322is directly coupled with the reel 310 and extends along the rotationalaxis 311. In other embodiments, the motor shaft 322 may be indirectlycoupled with the reel 310, for example via one or more gears that causerotation of the reel 310 in response to rotation of the motor shaft 322.Rotation of the motor shaft 322 and the reel 310 in a first directioncauses the line 340 to unwind from the reel 310, thereby causing thefree end 342 of the line 340 to descend under the force of gravity.Rotation of the motor shaft 322 and the reel 310 in a second directionopposite the first direction causes the line 340 to wind onto the reel310, thereby causing the free end 342 of the line 340 to raise.Accordingly, the first direction may alternatively be referred to as theline lowering direction, and the second direction may alternatively bereferred to as the line raising direction.

During rotation of the reel 310 in the line lowering direction, it maybe the case that slack develops in the line 340, for example in theevent that the reel 310 is being rotated faster than the line 340 isbeing paid out. With conventional reels, such slack may lead to thedevelopment of tangles in the line 340. However, the illustrated reel310 discourages the generation of such tangles. More particularly, theridge 315 retains the majority of the slackened portion of the line 340confined within the inner portion 318 of the channel 312, while thepassage 317 permits the line 340 to pay out at the appropriate speed. Asa result, the line 340 does not unspool so quickly as to risk thegeneration of tangles.

The severing device 330 is in communication with the control system 150and is operable to sever the line 340. In the illustrated form, thesevering device 330 generally includes an armature 332 and a heatingtube 334 passing through the armature 332. The armature 332 is pivotablymounted to the mounting bracket 302 for movement between an actuatedposition and a deactuated position, and may be biased toward thedeactuated position by a biasing member. The pivotal range of thearmature 332 may be limited by a stop arm 303 of the mounting bracket302. The line 340 passes through the heating tube 334, which includes aheating coil 335 in communication with the control system 150. Uponreceiving an appropriate severing signal from the control system 150,the heating coil 335 generates a heat sufficient to burn and/or melt thethrough line 340, thereby severing the line 340. It is also contemplatedthat the severing device 330 may sever the line in another manner, suchas by employing a blade that moves to cut the line 340 upon receivingthe severing signal from the control system 150. However, it has beenfound that the use of a heating coil 335 to melt and/or burn the linemay provide certain advantages, such as reducing the number of movingparts and obviating the possibility of an inadvertent severing of theline 340.

The line 340 includes a wound portion 341 that is wound about the reel310, and extends through the severing device 330 to the free end 342,which is coupled with the attachment device 360. As noted above,rotation of the reel 310 in the line raising direction winds the line340 onto the reel 310 and raises the free end 342, and rotation of thereel 310 in the line lowering direction unwinds the line 340 from thereel 310 and lowers the free end 342. In the illustrated form, the line340 is formed of a material that is sufficiently durable to supportloads of a predetermined weight while remaining susceptible to meltingand/or burning by the heating coil 335. By way of non-limiting example,the line 340 may be formed of nylon, polyvinylidene fluoride (PVDF),polyethylene, and/or ultra-high molecular weight polyethylene (UHMWPE),and may be provided as monofilament, braided, or another form.

The sensor array 350 is in communication with the control system 150,and includes a rotary position sensor 354 and a load sensor 352, each ofwhich may be mounted to the mounting bracket 302. The rotary positionsensor 354 is associated with the reel 310 and is configured to providethe control system 150 with information relating to the angular positionof the reel 310. The rotary position sensor 354 may, for example, beprovided as a magnetic rotary sensor.

The control system 150 may be provided with (e.g., have stored inmemory) information relating to the diameter d310 of the reel 310 suchthat the control system 150 is able to calculate the length of line 340that has been paid out based upon the information provided by the rotaryposition sensor 354. More particularly, the control system may calculatethis length based upon the equation L340=π·d310·n, where L340 is thelength of line 340 that has been paid out, d310 is the diameter of thereel 310, and n is the number of revolutions that the reel 310 hasrotated as indicated by the information received from the rotaryposition sensor 354. For example, if the diameter of the reel is 20 cmand the rotary position sensor 354 indicates that the reel 310 hasundergone ten revolutions in the line lowering direction, the controlsystem 150 may determine that the load has dropped approximately 6.28meters. As described herein, this information can be compared withinformation generated by the downward-facing ranging-and-detectiondevice 154 b to determine how far the load is from the ground or otherdesignated delivery surface.

The load sensor 352 is associated with the armature 332 of the severingdevice 330 such that the load sensor 352 is operable to distinguishbetween the actuated and deactuated positions of the armature 332. Asdescribed herein, these positions respectively correspond to loaded andunloaded conditions of the winch mechanism 300 such that the controlsystem 150 is operable to determine whether the winch mechanism 300 issupporting a load based upon the information received from the loadsensor 352. In the illustrated form, the load sensor 352 is provided asa snap action mechanical switch or microswitch. It is also contemplatedthat the load sensor 352 may be provided as another form of sensoroperable to sense the actuated/deactuated position of the armature 332,such as an optical switch, a magnetic switch, or a Hall effect switch orsensor.

With additional reference to FIG. 14, the attachment device 360 of theillustrated embodiment is provided in the form of a gravity hook 360that is coupled (e.g., tied) to the free end 342 of the line 340, whichmay pass through an aperture 361 formed in the gravity hook 360. Alsoillustrated in FIG. 14 is a load 402 to be carried and released by thegravity hook 360, the load 402 including a ring 403 by which the load402 can be loaded onto the gravity hook 360. The gravity hook 360generally includes a hook-shaped body 362 defining a hook recess 363. Alever 364 is pivotably mounted to the body 362, and an upper side of thelever 364 defines a ramp 365. The lever 364 is pivotable relative to thebody 362 between a substantially horizontal upper position (illustrated)and a substantially vertical lower position, and is biased toward theupper position by a biasing member 366. In the illustrated form, thebiasing member 366 is provided in the form of a torsion spring. In otherembodiments, the biasing member 366 may be provided in another form,such as one that includes a compression spring, an extension spring, anelastic member, or one or more magnets.

The load 402 may be loaded onto the gravity hook 360 by passing the tipof the hook through the ring 403 such that the ring 403 engages thelever 364 and urges the lever 364 to its lower position against theforce of the biasing member 366. When so loaded, a portion of the ring403 is seated in the hook recess 363 and maintains the lever 364 in itslower position. In this state, the force of the biasing member 366 issubstantially side-to-side, and is insufficient to drive the lever 364to its upper position against the weight of the load 402. The load 402may then be delivered to a designated delivery surface as described infurther detail below. When the load 402 is supported by the designatedsurface, further downward movement of the gravity hook 360 causes thering 403 to exit the hook recess 363, thereby causing the lever 364 topivot to its upper position under the force of the biasing member 366.When the gravity hook 360 is subsequently raised, the biasing member 366retains the lever 364 in its upper position as the ramp 365 causes thering 403 to slide out of engagement with the lever 364, therebyreleasing the load 402 from the gravity hook 360.

As noted above, the UAV 100 may be operated to deliver a load 402, suchas a package, to a destination or delivery zone. In order to do so, theload may be attached to the winch mechanism 300 via the attachmentdevice 360. In certain embodiments, the load 402 may also be loaded ontothe carriage 180 or a similar device. It is also contemplated that thecarriage 180 may be omitted, and that the load may be borne by the winchmechanism alone 300. The UAV 100 may then be operated, eitherautonomously or under control of a user, to fly to the destination. Uponarriving at the destination, the control system 150 may operate thecarriage motor 188 to release the load 402 from the carriage 180,thereby causing the load 402 to drop slightly until the line 340 becomestaut. As the weight of the load 402 is transferred to the line 340, thesevering device armature 332 pivots to its actuated position, therebyactuating the load sensor 352 and indicating to the control system 150that the load is being borne by the winch mechanism 300. The controlsystem 150 may then operate the winch mechanism 300 to lower the load402 to the ground or other surface, for example as described below withreference to FIGS. 15 and 16.

When the load 402 is supported by the ground or other surface, thegravity hook 360 disengages as described above, thereby releasing theweight of the load 402 from the line 340. As a result, the armature 332pivots to its deactuated position, thereby deactuating the load sensor352 and indicating to the control system 150 that the load 402 has beendelivered. In response to this information, the control system 150 mayoperate the motor 320 to rotate the reel 310 in the line raisingdirection to retract the line 340.

During movement of the line 340, it may be the case that the line 340becomes tangled, caught, or otherwise prevented from operating asdesigned. For example, the line 340 may become tangled on itself, orcaught on an obstacle such as a tree or fence. In the event of such atangle or catch, the current drawn by the motor 320 may spike, or thesensor array 156 may indicate an unexpected jerk in the position of theUAV 100, each of which may be interpreted as a fault condition relatingto the line 340. Regardless of the manner of detecting the faultcondition, it may be desirable to sever the line 340 to free the UAV 100for further operation. Thus, in response to detecting the faultcondition, the control system 150 may transmit the severing signal tothe severing device 330, thereby causing the severing device 330 tosever the line 340. In the illustrated embodiment, the severing signalmay be provided as a voltage sufficient to cause the heating coil 335 toheat to a temperature sufficient to melt and/or burn at least a portionof the line 340 within the tube 334. With the line 340 severed, the UAV100 once again is free to travel, and may return to a base station formaintenance to replace the line 340 or couple a new attachment device360 to the severed end of the line 340.

With additional reference to FIGS. 15 and 16, illustrated therein is anexemplary process 400 that may be performed using a UAV to deliver adelivery load 402 to a destination such as a delivery zone 490. Blocksillustrated for the processes in the present application are understoodto be examples only, and blocks may be combined or divided, and added orremoved, as well as re-ordered in whole or in part, unless explicitlystated to the contrary. Unless specified to the contrary, it iscontemplated that certain blocks performed in the process 400 may beperformed wholly by one or more components of the UAV, or that theblocks may be distributed among one or more of the elements and/oradditional devices or systems that are not specifically illustrated inFIGS. 1-14. Additionally, while the blocks are illustrated in arelatively serial fashion, it is to be understood that two or more ofthe blocks may be performed concurrently or in parallel with one anotherunless specified to the contrary. Moreover, while the process 400 isdescribed with specific reference to the example UAV 100 illustrated inFIG. 1, it is to be appreciated that the process 400 may be performedusing a UAV of similar or different configurations.

The process 400 generally includes a loading procedure 410, an approachprocedure 420, a ranging procedure 430, a release procedure 440, adelivery procedure 450, and a line retracting procedure 460, and mayfurther include a line severing procedure 470 and/or a return procedure480. As described herein, the loading procedure 410 generally involvesloading the delivery load 402 onto the UAV 100, the approach procedure420 generally involves approaching a delivery zone 490 having adesignated delivery surface 491, the ranging procedure 430 generallyinvolves determining a distance between the UAV 100 and the designatedsurface 491, and the release procedure 440 generally involves releasingthe load 402 from the carriage 180. Additionally, the delivery procedure450 generally involves delivering the load 402 to the delivery surface491 using the line 340, the line retracting procedure 460 generallyinvolves retracting the line 340, the line severing procedure 470generally involves severing the line 340, and the return procedure 480generally involves returning the UAV 100 to a base station or a dockingstation.

The loading procedure 410 generally involves loading a delivery load 402such as a parcel or package onto the UAV 100 such that the UAV 100 isoperable to carry the load 402. The loading procedure 410 may, forexample, be performed at a base station, which may be static (e.g.,provided to a building) or mobile (e.g., provided to a delivery truck).The loading procedure 410 may, for example, be performed by one or moreof delivery personnel, the owner and/or operator of the UAV 100, orother personnel.

The loading procedure 410 includes block 412, which generally involvesattaching a delivery load 402 to a line 340 of a winch mechanism 300 ofa UAV 100. In the illustrated form, block 412 generally involvesattaching the delivery load 402 to the free end 342 of the line 340, forexample using the attachment device 360. By way of illustration, block412 may involve attaching the gravity hook 360 to the ring 403 of theload 402 such that the winch mechanism 300 is operable to raise andlower the load 402 by rotating the reel 310 in the line raisingdirection and the line lowering direction.

In certain embodiments, such as those in which the UAV 100 includes thecarriage 180, the loading procedure 410 may further include block 414,which generally involves mounting the delivery load 402 in the carriageof the UAV. In the illustrated form, block 414 generally involvesmounting the delivery load 402 into the carriage 180 of the UAV 100. Asshould be appreciated, mounting the load 402 to the carriage 180 mayreduce the amount by which the load 402 can sway during transport, whichmay facilitate the control of the UAV 100 during subsequent proceduresand blocks.

In certain embodiments, such as those in which the UAV 100 is operableto autonomously deliver the load 402, the loading procedure 410 mayfurther include block 416, which generally involves providing thecontrol system 150 with information relating to the location of thedelivery zone 490. In certain embodiments, the information may beprovided by the load 402 itself. As one example, the load 402 or asticker attached thereto may include (e.g., have printed thereon) theinformation, either in plaintext or in an encoded form (e.g., abarcode), and the control system 150 may derive such information via anoptical scanner of the sensor array 156. As another example, the load402 may be provided with a radio frequency identification (RFID) taghaving the information encoded thereon, and the control system 150 mayderive such information via an RFID reader of the sensor array 156. Incertain embodiments, the information may be provided in another manner.As one example, the delivery personnel may upload the information to thecontrol system 150 via an external device 190 (e.g., a mobile device) incommunication with the control system 150, such as via the one or morewireless communication devices 158.

With the delivery load 402 loaded onto the UAV 100, the process 400 maycontinue to the approach procedure 420, which generally involvesapproaching the delivery zone 490. In certain embodiments, such as thosein which the UAV 100 is controlled remotely, the approach procedure 420may be performed by and/or under the control of a user or externalcontrol system, such as the external device 190. In certain embodiments,such as those in which the UAV 100 is partially or wholly autonomous,the approach procedure 420 may be performed by and/or under the controlof the control system 150.

The approach procedure 420 includes block 422, which generally involvesoperating one or more rotors of the UAV to generate lift. In theillustrated form, block 422 involves supplying, by the control system150, power from the power supply 160 to the rotor motors 127, therebycausing the motors 127 to rotate the propellers 128 to generate thelift. When sufficient lift is generated, the UAV 100 will rise from theground, loading surface or docking station.

The approach procedure 420 includes block 424, which generally involvesnavigating the load-carrying UAV to the delivery zone to which the loadis to be delivered. In the illustrated form, block 424 generallyinvolves navigating the UAV 100 to the delivery zone 490 to which theload 402 is to be delivered. In certain forms, the navigating may beperformed using GPS information, such as GPS information provided by theGPS device 156 c. During navigation, the control system 150 may operatethe outward-facing ranging-and-detection device 154 a to detect andavoid obstacles in the path of the UAV 100. While certain examples havebeen provided regarding the navigation of block 424, it is to beappreciated that various other manners of navigating to the deliveryzone 490 may occur to those having skill in the art, and may be employedwithout departing from the spirit of the current disclosure.

The approach procedure 420 may further include block 426, whichgenerally involves hovering above the designated delivery surface. Block426 may, for example, be performed upon completion of the navigating inblock 424, and generally involves hovering at a hover height h100 abovethe delivery surface 491. In certain embodiments, the hover height h100may be a predetermined hover height. In certain embodiments, the hoverheight h100 may not necessarily be predetermined. The hovering of block426 may, for example, be performed throughout one or more of thefollowing procedures (e.g., the ranging procedure 430, and/or thedelivery procedure 450) to maintain a substantially constant hoverheight h100 during the performance of such procedures.

Upon arriving at the delivery zone 490, the process 400 may continue tothe ranging procedure 430, which generally involves providing thecontrol system with information relating to the distance between the UAVand the delivery surface. In the illustrated form, this distancecorresponds to the hover height h100, which is the height at which theUAV 100 hovers above the delivery zone 490 in block 426. In theillustrated form, the ranging procedure 430 includes block 432, whichgenerally involves operating the downward-facing ranging-and-detectiondevice 154 b to determine the hover height h100. In certain embodiments,the process 400 may involve adjusting the altitude of the UAV to reach apredetermined hover height h100. In certain embodiments, such as thosein which the UAV 100 is operated to hover at a substantially constanthover height h100, the ranging of block 432 may be performed a singletime to determine the substantially constant hover height h100. It isalso contemplated that the ranging of block 432 may be performedintermittently, continually, or continuously, for example in embodimentsin which the UAV 100 does not necessarily maintain a constant hoverheight h100.

In certain embodiments, such as those in which the delivery load 402 hasbeen loaded onto a carriage such as the carriage 180, the process 400may include the release procedure 440, which generally involvesreleasing the delivery load 402 from the carriage 180. In theillustrated form, the release procedure 440 includes block 442, whichgenerally involves operating the carriage motor 188 to move the secondgrip 184 outward under the control of the control system 150. As aresult of this movement, the receiving space 189 expands, therebycausing the load 402 to drop a distance corresponding to the slack inthe line 340. Upon release of the load 402 by the carriage 180, the load402 is supported by the line 340 such that the line becomes taut.Additionally, the armature 332 moves from its deactuated position to itsactuated position, thereby tripping the load sensor 352 and indicatingto the control system 150 that the weight of the load 402 is beingcarried by the line 340.

The process 400 further includes the delivery procedure 450, which may,for example, be performed upon completion of the release procedure 440(e.g., in embodiments in which the load 402 is mounted in the carriage180 for transport). For example, performance of the delivery procedure450 may begin in response to the information from the load sensor 352indicating that the load 402 has been released from the carriage 180. Inembodiments in which the UAV 100 lacks the carriage 180, the deliveryprocedure 450 may begin based upon one or more alternative criteria,such as a determination that the UAV 100 has reached the delivery zone490. As described herein, the delivery procedure 450 generally includesproviding the load 402 with a controlled rate of descent v402 as theload passes through an upper zone 492 in block 452, accelerating therate of descent v402 as the load 402 passes through an intermediate zone494 in block 454, and reducing the rate of descent v402 as the load 402passes through a lower zone 496 in block 456.

As noted above, the hover height h100 corresponds to the distancebetween the UAV 100 and the delivery surface 491. This distance may bedivided into three zones through which the load 402 descends during thedelivery procedure 450: an upper zone 492 in the vicinity of the UAV, alower zone 496 in the vicinity of the delivery surface 491, and anintermediate zone 494 between the upper zone 492 and the lower zone 496.As noted above, the control system 150 is operable to determine the freelength L340 of line 340 that has been doled out, for example based uponthe information received from the rotary sensor 354. The control system150 may further be operable to determine which zone the load 402currently occupies, for example based upon a comparison of the freelength L340 and thresholds corresponding to each zone.

When the load 402 is located in the upper zone 492, the free length L340is less than a first threshold length, which corresponds to a selecteddistance for the upper zone 492. When the load is located in theintermediate zone 494, the free length L340 is between the firstthreshold length and a second threshold length, which corresponds to adifference between the hover height h100 and a selected height for thelower zone 496. When the load 402 is located in the lower zone 496, thefree length L340 is greater than the second threshold length and lessthan a third threshold length, which corresponds to the hover heighth100. When the load 402 is positioned on the delivery zone 490, the freelength L340 is greater than or equal to the third threshold length.Thus, the zone through which the load 402 is currently passing and/orthe presence of the load 402 on the delivery surface 491 can bedetermined based upon the free length L340 of the line 340, which inturn can be calculated by the control system 150 based upon theinformation received from the rotary sensor 354.

In certain forms, one or more of the zones 492, 494, 496 may have apredetermined height. By way of non-limiting example, the upper zone 492may have a height of four feet, the lower zone 496 may have a height offive feet, and the height of the intermediate zone 494 may be defined asthe hover height h100 minus the nine feet occupied by the upper zone 492and the lower zone 496. In this example, if the hover height h100 wereset to or measured as forty feet, the first threshold would be set tofour feet (the selected height for the upper zone 492), the secondthreshold would be set to 35 feet (the difference between the hoverheight h100 and the selected height for the lower zone 496), and thethird threshold would be set to forty feet (the hover height h100). Itshould be appreciated that these examples are illustrative only, and maybe selected based upon various criteria and/or parameters.

The delivery procedure 450 includes block 452, which generally involvesproviding the load 402 with a controlled rate of descent v402 as theload 402 passes through the upper zone 492. In the illustrated form,block 452 involves operating the winch motor 320 to cause or permit thereel 310 to rotate in the line lowering direction at a controlled rateof speed. In certain embodiments, the controlled rate of speed may be aconstant rate of speed. In other forms, the controlled rate of speed maybe variable. As will be appreciated, controlling the rate of speed atwhich the reel 310 rotates controls the rate of load descent v402. Incertain embodiments, controlling the rate of load descent v402 mayinvolve limiting the rate of load descent v402 to a threshold velocity,such as 10 cm/s. As another example, the threshold velocity may beprovided between 5 cm/s and 15 cm/s.

Those skilled in the art will readily recognize that lowering of theload 402 is correlated with the unspooling of the line 340 from the reel310. It has been found that if the line 340 unspools from the reel 310too quickly, tangles may develop in the line 340. Thus, in controllingthe rate of load descent v402, the risk of developing tangles in theline 340 may be mitigated. In certain embodiments, block 452 may beperformed to control the rate of load descent v402 for a predeterminedperiod of time. In certain embodiments, block 452 may be performed tocontrol the rate of descent v402 until the free length L340 reaches thefirst threshold length, at which point the load 402 is located at theboundary 493 between the upper zone 492 and the intermediate zone 494.

The delivery procedure 450 also includes block 454, which generallyinvolves accelerating the load 402 to increase the rate of load descentv402 as the load 402 passes through the intermediate zone 494. In theillustrated form, block 454 involves operating the winch motor 320 tocause or permit the reel 310 to rotate in the line lowering direction ata greater rate of speed than was permitted in the initial descent stageof block 452, thereby increasing the rate of load descent v402. Incertain embodiments, block 454 may involve operating the winch motor 320to cause or permit the load 402 to descend under essentially free-fallconditions. In certain embodiments, block 452 involves limiting the rateof descent v402 to an initial descent velocity, and block 454 involveslimiting the rate of descent v402 to a nominal velocity greater than theinitial descent velocity. As should be appreciated, the increased rateof descent v402 provided in block 454 increases the speed of thedelivery as compared to if the entire delivery procedure 450 werelimited to a lesser velocity. In certain embodiments, block 454 may beperformed to control the rate of descent v402 from the time the freelength L340 is the first threshold length until the free length L340reaches the second threshold length, at which point the load 402 islocated at a boundary 495 between the intermediate zone 494 and thelower zone 496.

The delivery procedure 450 may also include block 456, which generallyinvolves reducing the rate of load descent v402 as the load 402 passesthrough the lower zone 496. In the illustrated form, block 456 involvesoperating the winch motor 320 to cause or permit the reel 310 to rotatein the line lowering direction at a lesser rate of speed than waspermitted in the intermediate descent stage of block 454, therebyreducing the rate of descent v402. In certain embodiments, block 454involves limiting the rate of descent v402 to a nominal descentvelocity, and block 454 involves reducing the rate of descent v402 to alanding velocity less than the nominal velocity. In certain embodiments,block 456 may be performed to control the rate of descent v402 from thetime the free length L340 is the second threshold length until the freelength L340 reaches the third threshold length, at which point the load402 may be positioned on the delivery surface 491. In reducing the rateof descent v402 as the load 402 passes through the lower zone 496, theUAV 100 provides the load 402 with a softer landing than would beprovided if the load 402 were allowed to land at the nominal speed ofblock 454. This soft landing may aid in reducing damage to the load 402,particularly in situations in which the load 402 is fragile.

Upon completion of the delivery procedure 450, the process 400 maycontinue to the line retracting procedure 460, which generally involvesretracting the line 340. The line retracting procedure 460 may, forexample, be performed by the winch mechanism 300 under control of thecontrol system 150.

The line retracting procedure 460 may include block 462, which generallyinvolves detecting delivery of the load 402. When the load 402 reachesthe delivery surface 491, the gravity hook 360 may release the load 402as described above. With the load 402 released, the 2moves to itsdeactuated position, thereby altering the output of the load sensor 352such that the load sensor 352 indicates that the load 402 has beendelivered. Thus, block 462 may involve detecting the delivery based uponinformation received from the load sensor 352. It is also contemplatedthat block 462 may involve inferring that the load has been deliveredbased upon one or more additional or alternative criteria, such as thefree length L340 of the line 340 meeting or exceeding the thirdthreshold length, which may correspond to the hover height h100.

The line retracting procedure 460 includes block 464, which generallyinvolves operating the winch motor 320 to rotate the reel 310 in theline raising direction. In certain embodiments, block 464 may beperformed in response to the delivery of the load 402 being detectedbased upon information received from the load sensor 352 in block 462.In certain embodiments, block 464 may involve operating the winch motor320 until the free length L340 is zero or nominally zero. In certainembodiments, block 464 may involve operating the winch motor 320 toraise the line 340 at a constant retraction speed. In other forms, theretraction speed may be variable.

In certain circumstances, the process 400 may involve the severingprocedure 470, which generally involves detecting a fault condition andsevering the line in response to detecting the fault condition. Thesevering procedure 470 may be performed by the severing device 330 undercontrol of the control system 150.

The severing procedure 470 includes block 472, which generally involvesdetermining a fault condition. In certain embodiments, the faultcondition may be determined based at least in part upon a spike incurrent drawn by the winch motor 320 during the line retractingprocedure 460. In certain embodiments, the fault condition may bedetermined based at least in part upon acceleration or jerking of theUAV 100 during the line retracting procedure 460, which may be sensed byone or more sensors of the sensor array 156. In certain embodiments, thefault condition may be determined based at least in part upon stallingof the retraction of the line 340 during the retraction procedure. Suchstalling may, for example, be determined when the winch motor 320 isattempting to retract the line 340 while the reel position sensor 352indicates that the reel 310 is remaining stationary. In certainembodiments, there may be a time function involved with the detection ofthe fault condition, such as determining the fault condition only whenthe jerk or the stalling lasts a predetermined period of time.

The severing procedure 470 further includes block 474, which generallyinvolves transmitting a severing signal in response to determining thefault condition. In the illustrated form, block 474 involves supplyingthe heating coil 335 of the severing device 330 with an electric currentsufficient to cause the heating coil 335 to heat to a temperaturesufficient to melt and/or burn through at least a portion of the line340 that is positioned within the tube 334. In other embodiments, block474 may involve transmitting a signal operative to cause a mechanicalcutting device (e.g., a movable blade) to sever the line 340.

The illustrated severing procedure 470 further includes block 476, whichgenerally involves melting and/or burning the line in response to thesevering signal transmitted in block 474. More particularly, theillustrated embodiment of block 476 involves heating the heating coil335 to a temperature sufficient to melt and/or burn at least a portionof the line 340 that is positioned within the tube 334. It is alsocontemplated that block 476 may include severing the line 340 in anothermanner, for example by causing a mechanical severing device (e.g., amovable blade) to sever the line 340.

The process 400 may further include a return procedure 480, whichgenerally involves returning the UAV 100 to a base station. In certainforms, the base station may include the above-described docking station200. In certain embodiments, the base station may be the same basestation at which the UAV 100 was provided with the load 402 in theloading procedure 410, while in other embodiments the base station maybe a different base station. In certain embodiments, the base station towhich the UAV 100 returns may be a static or stationary base station,such as one located at a residence or a distribution center. In certainembodiments, the base station to which the UAV 100 returns may be amobile base station, such as a delivery vehicle.

The return procedure 480 includes block 482, which generally involvesnavigating to the base station. In certain embodiments, the navigatingof block 482 may be performed using the GPS chip 156 c and based upon aknown position of the base station. For example, in embodiments in whichthe base station is static or stationary, the control system 150 mayhave coordinates of the base station programmed in memory. Inembodiments in which the base station is mobile, the base station may beequipped with a GPS chip and a wireless communication device, and thecontrol system 150 may receive information relating to the current orfuture position of the base station via the wireless communicationdevice 158. In certain embodiments, the base station may be equippedwith one or more beacons (e.g. radio frequency beacons), and the UAV 100may navigate to the base station using homing signals generated by theone or more beacons. While certain examples have been provided regardingthe navigation of block 482, it is to be appreciated that various othermanners of navigating to the base station may occur to those havingskill in the art, and may be employed without departing from the spiritof the current disclosure.

In the illustrated form, the return procedure 480 further includes block484, which generally involves lowering the UAV 100 into a nest 210 of adocking station 200 provided at the base station. In certainembodiments, the lowering of block 484 may involve descending into thenest 210 based at least in part upon information received from thelanding assistance device 206. For example, the landing assistancedevice 206 may comprise an electromagnetic beacon (e.g., a radiofrequency beacon, an infrared beacon, a visible light beacon, or abeacon using additional or alternative wavelengths), and the controlsystem 150 may control the UAV 100 to descend into the nest 210 usingpositional information derived from the electromagnetic homing signalissued by the beacon. As another example, the landing assistance device206 may comprise a barcode that provides the control system 150 withposition and/or orientation information, and block 484 may involvelowering the UAV 100 into the nest 210 with its position and/ororientation being controlled based upon the position and/or orientationinformation provided by the barcode.

During the landing of block 484, the nest 210 may assist the UAV 100 inlanding in a predetermined position and/or orientation. Such assistancemay be provided at least in part by the landing assistance device 206 asdescribed above. Additionally, the geometry of the nest 210 may itselfaid in providing the UAV 100 with the desired position and/ororientation. For example, if the centering of the UAV 100 relative tothe nest 210 is off by less than the acceptable margin of error, thesidewall(s) 219 may urge the descending UAV 100 to a centered positionas described above. In embodiments in which the docking station 200includes the charging device 220, the desired position and orientationmay be a position and orientation in which a first leg 132 is positionedon the first contact pad 222 and a second leg 132 is positioned on thesecond contact pad 224. In such forms, the charging device 220 may beginrecharging the onboard power supply 160 upon landing of the UAV 100.

While one example of a delivery process 400 has been described andillustrated, it is also contemplated that a delivery process may takeother forms. For example, in embodiments that do not include the winchmechanism 300, a delivery process may simply involve mounting the load402 to the carriage 180 or a similar carriage. In such forms, thedelivery procedure 450 may simply involve releasing the load 402 fromthe carriage 180, such as when the UAV is at a relatively low heightabove the designated delivery surface 491.

As noted above, the power supply 160 may include plural batteries 162,and may be operable to receive electrical power for recharging via thelanding apparatus 130. Additionally or alternatively, one or more of thebatteries 162 may be replaced when the charge in the battery 162 hasbeen reduced. An example process that involves replacing one or more ofthe batteries 162 will now be described with reference to FIG. 17.

With additional reference to FIG. 17, illustrated therein is anexemplary process 500 that may be performed using to replace one or morebatteries of a UAV. Blocks illustrated for the processes in the presentapplication are understood to be examples only, and blocks may becombined or divided, and added or removed, as well as re-ordered inwhole or in part, unless explicitly stated to the contrary. While theblocks are illustrated in a relatively serial fashion, it is to beunderstood that two or more of the blocks may be performed concurrentlyor in parallel with one another unless specified to the contrary.Moreover, while the process 500 is described with specific reference tothe example UAV 100 illustrated in FIG. 1, it is to be appreciated thatthe process 500 may be performed using a UAV of similar or differentconfigurations.

In certain embodiments, the process 500 may begin with the UAV 100unpowered and the power supply 160 uninstalled. As described herein, theprocess 500 generally involves installing a first battery 162 a,performing an initialization procedure, installing a second battery 162b, and removing the first battery 162 a after installing the secondbattery 162 b. Due to the fact that the first battery 162 a is removedonly after the second battery is installed, the control system 150 canremain continuously active without the necessity of repeating theinitialization procedure.

The process 500 includes block 502, which generally involves installinga first battery 162 a to the chassis 110 such that the control system150 is operable to receive electrical power from the first battery 162a. In the illustrated form, block 502 includes installing the firstbattery 162 a to the first battery compartment 114. As noted above, thefirst battery compartment 114 a is configured to receive slidinginsertion of the first battery 162 a, and the latch 115 is configured tolockingly engage the first battery 162 a upon sliding insertion of thefirst battery 162 a. Thus, block 502 may involve slidingly inserting thefirst battery 162 a into the first battery compartment 114 a along aninsertion axis 102 a (e.g., a horizontal insertion axis), and engagingthe latch 115 of the first battery compartment 114 a to lock the firstbattery 162 a into the first battery compartment 114 a. With the firstbattery 162 a installed, the first battery 162 a is electricallyconnected with the control system 150 such that the control system 150is operable to receive electrical power from the first battery 162 a.

The process 500 also includes block 504, which generally involvesperforming an initialization procedure to activate the control system150. The initializing of block 504 may be performed after installing thefirst battery in block 502, and may be performed using power drawn fromthe first battery 162 a. The initialization procedure performed in block504 may include one or more operations necessary or desired for theproper operation of the UAV 100. As one example, the initializing ofblock 504 may include powering up the control system 150 and performingany processes attendant to such powering up. As another example, theinitializing procedure of block 504 may include calibrating one or morecomponents of the UAV 100, such as the ranging-and-detecting device(s)154, the accelerometer, the gyroscope, and/or the magnetometer. Incertain embodiments, the initializing of block 504 may involveconfirming the status of system communications with the UAV 100 and itsground control station. In certain embodiments, the initializing ofblock 504 may involve performing one or more built-in-test-equipmentchecks for system continuity. In certain embodiments, the initializationof block 504 may include checks of battery voltage and/or checks oflighting and auxiliary systems that may be installed.

The process 500 may include block 506, which generally involvesoperating the UAV 100. Block 506 may be performed following performanceof the initialization procedure in block 504, and the initializationprocedure performed in block 504 may involve one or more operationsnecessary or desired for the operating of block 506. The operating ofblock 506 may be performed while the first battery 162 a is installedusing power drawn from the first battery 162 a, thereby partiallydepleting the charge stored in the first battery 162 a. In certainembodiments, the operating of block 506 may involve delivering a load402 along the lines set above with reference to the process 400. It isalso contemplated that the operating of block 506 may involve additionalor alternative procedures. For example, in embodiments in which theauxiliary system 170 comprises a surveillance device 172, block 506 mayinvolve operating the UAV 100 to conduct a surveillance operation.

The process 500 also includes block 508, which generally involvesinstalling a second battery 162 b to the chassis 110 such that thecontrol system 150 is operable to receive electrical power from thesecond battery 162 b. In certain embodiments, such as those in which thefirst battery compartment 114 and the second battery compartment 114 aresubstantially similar, the installing of block 508 may be substantiallysimilar to the installing of block 502. For example, the installing ofblock 508 may involve slidingly inserting the second battery 162 b intothe second battery compartment 114 b along an insertion axis 102 b(e.g., a horizontal insertion axis), and engaging the latch 115 of thesecond battery compartment 114 b to lock the second battery 162 b intothe second battery compartment 114 b. With the second battery 162 binstalled to the chassis 110, the control system 150 is operable toreceive electrical power from the second battery 162 b.

The process 500 also includes block 510, which generally involvesremoving the first battery 162 a. Block 510 may, for example, involvedisengaging the latch 115 and slidingly removing the first battery 162 afrom the first battery compartment 114 along a removal axis. In certainembodiments, the removal axis may be the same as the insertion axis. Inother embodiments, the removal axis may be different from the insertionaxis. The removal of the first battery 162 a in block 510 is performedafter installation of the second battery 162 b in block 508 such thatthe control system 150 is operable to remain at least partially activeunder power supplied by the second battery 162 b upon removal of thefirst battery 162 a. In certain embodiments, the control system 150 mayremain partially active upon removal of the first battery 162 a, forexample by entering a sleep mode. In certain embodiments, the controlsystem 150 may remain fully active upon removal of the first battery 162a.

The process 500 also includes block 512, which generally involvescontinuing to operate the control system 150 under power of the secondbattery 162 b. As noted above, the second battery 162 b is installedprior to the removal of the first battery 162 a such that the controlsystem 150 is capable of remaining at least partially active uponremoval of the first battery 162 a, thereby obviating the need forrepeating the initialization procedure.

The process 500 may include block 514, which generally involvesreplacing the first battery 162 a with a third battery 162 c. Block 514may, for example, involve installing the third battery 162 c to thefirst battery compartment 114 in a manner substantially similar to thatin which the first battery 162 a was installed to the first batterycompartment 114.

The process 500 may include block 516, which generally involves removingthe second battery 162 b. The removal of the second battery in block 516may be performed after installation of the third battery 162 c in block514 such that the control system 150 is operable to remain powered underpower supplied by the third battery 162 c upon removal of the secondbattery 162 b.

The process 500 may include block 518, which generally involvescontinuing to operate the control system 150 under power of the thirdbattery 162 c while the second battery 162 b is removed. As noted above,the third battery 162 c is installed prior to the removal of the secondbattery 162 b such that the control system 150 is capable of remainingcontinuously powered upon removal of the second battery 162 b, therebyobviating the need for repeating the initialization procedure.

The process 500 may include block 520, which generally involvesreplacing the second battery with a fourth battery. Block 520 may, forexample, involve installing the fourth battery 162 d to the secondbattery compartment 114 in a manner substantially similar to that inwhich the second battery 162 b was installed to the second batterycompartment 114.

The process 500 also includes block 522, which generally involvesoperating the UAV 100 without repeating the initialization procedure. Incertain embodiments, the operating of block 522 may be performed withonly the second battery installed (e.g., after block 508 and beforeblock 514). In certain embodiments, the operating of block 522 may beperformed with the second battery and the third battery installed (e.g.,after block 514 and before block 516). In certain embodiments, theoperating of block 522 may be performed with only the third batteryinstalled (e.g., after block 516 and before block 520). In certainembodiments, the operating of block 522 may be performed with the thirdbattery and the fourth battery installed (e.g., after block 520).

As noted above, blocks in the illustrated process 500 may be reorderedexcept where noted to the contrary. As one example, the installation ofthe second battery in block 508 may be performed between theinstallation of the first battery in block 502 and the performance ofthe initialization procedure in block 504. As another example,installation of the second battery in block 508 may be performed betweenthe performance of the initialization procedure in block 504 and theoperating of the UAV 100 in block 506. Regardless of the precise orderof the blocks, the process 500 may be employed to remove or replace aninstalled battery while continuously powering the control system 150such that the UAV 100 can be operated without repeating aninitialization procedure that was performed earlier in the continuousoperation of the control system 150.

In certain circumstances, the initialization procedure performed inblock 504 may be somewhat time-consuming and/or may require technicalexpertise. However, the process 500 allows for one or more batteries 162of the UAV to be replaced while continuously operating at least aportion of the control system 150 such that the initialization procedureneed not be repeated each time the power supply 160 loses charge. Thus,instead of performing the initialization procedure each time the powersupply 160 loses charge, the operator may instead remove one battery 162while another battery 162 is installed to the UAV 100 such that thecontrol system 150 remains at least partially active, thereby obviatingthe need to repeat the initialization procedure. In obviating the needfor the initialization procedure to be performed each time one or morebatteries 162 are replaced, the process 500 may reduce the time and/ortechnical expertise needed to continue operation of the UAV 100. Thismay be particularly valuable in situations where the UAV 100 is operatedvia a mobile base station (e.g., a delivery vehicle), the operator ofwhich may not necessarily have the time and/or expertise to perform theinitialization procedure of block 504.

With additional reference to FIG. 18, illustrated therein is a productline 600 according to certain embodiments. The product line 600 includesa docking station 610 and a UAV family 620 including a plurality of UAVconfigurations, each of which includes a landing apparatus 630 accordingto certain embodiments. As described herein, each member of the UAVfamily 620 is operable to land in the docking station 610, and theproduct line 600 has associated therewith a predetermined angle θ600that defines certain aspects of the product line 600.

In the illustrated form, the docking station 610 is provided in the formof the above-described docking station 200, and includes a nest 210. Asnoted above, the nest 210 of the docking station 200 illustrated inFIGS. 9-11 is frustoconical, and the sidewall 219 thereof defines anoblique angle θ219 relative to the central axis 211 of the nest 210. Inthe product line 600, the oblique angle θ219 is defined as thepredetermined angle θ600 that is associated with the product line 600.

The UAV family 620 includes a first UAV configuration 622 and a secondUAV configuration 624 that is smaller than the first UAV configuration622. It is also contemplated that the UAV family 620 may includeadditional UAV configurations, such as one or more UAV configurationslarger than the first UAV configuration 622, one or more UAVconfigurations smaller than the second UAV configuration 624, and/or oneor more UAV configurations smaller than the first UAV configuration 622and larger than the second UAV configuration 624. One or more of the UAVconfigurations in the UAV family 620 may, for example, be provided alongthe lines of the UAV 100 described above.

With additional reference to FIGS. 19 and 20, the landing apparatus 630is substantially similar to the landing apparatus 130, and similarreference characters are used to indicate similar features. For example,the illustrated landing apparatus 630 includes a plurality of legs 632each having a corresponding foot 634, which respectively correspond tothe above-described legs 132 having feet 134. In the illustrated form,the landing apparatus 630 includes four legs 632 a-632 d, each having acorresponding foot 634 a-634 d. It is also contemplated that more orfewer legs 632 may be utilized. The landing apparatus 630 furtherincludes at least one shoe 633, and in the illustrated form includes apair of shoes 633 a, 633 b. Each shoe 633 is attached to at least onefoot 634, and in the illustrated form, each shoe 633 is attached to acorresponding pair of feet 634. More particularly, the first shoe 633 ais attached to the first foot 634 a and the second foot 634 b, and thesecond shoe 633 b is attached to the third foot 634 c and the fourthfoot 634 d.

In the illustrated form, each shoe 633 is provided as a portion of acone such that the shoes 633 provide the lower end portion of thelanding apparatus 630 with a generally frustoconical geometry. Each shoe633 extends at an oblique angle relative to a central vertical axis 631of the landing apparatus 630. More particularly, each shoe 633 definesthe predetermined angle θ600 relative to the central axis 631. As aresult, the generally frustoconical geometry defined by the shoes 633matches the frustoconical geometry of the nest 210.

While the landing apparatus 630 of the first UAV configuration 622 issubstantially similar to the landing apparatus 630 of the second UAVconfiguration 624, the sizes of the landing apparatuses 630 may bescaled to match the sizes of the UAV configurations 622, 624. Moreparticularly, the effective diameter d630 of the landing apparatus 630of the larger first UAV configuration 622 may be greater than theeffective diameter d630 of the landing apparatus 630 of the smallersecond UAV configuration 624. In such forms, while each of the UAVconfigurations 622, 624 is operable to land in the nest 210 of thedocking station 200/610, the landing apparatus 630 of the first UAVconfiguration 622 will sit higher in the docking station 610 than thelanding apparatus 630 of the second UAV configuration 624. Moreparticularly, the shoes 633 of the first UAV configuration 622 willoccupy an upper region 612 within the nest 210, and the shoes 633 of thesecond UAV configuration 624 will occupy a lower region 614 in the nest210.

As noted above, the docking station 200/610 may include a chargingdevice 220 including first and second contact pads 222, 224. Eachcontact pad 222, 224 may be positioned at least partially in the upperregion 612 such that the charging device 220 is operable to charge a UAV100 of the first UAV configuration 622 when such a UAV 100 is seated inthe nest 210. Additionally or alternatively, each contact pad 222, 224may be positioned at least partially in the lower region 614 such thatthe charging device 220 is operable to charge a UAV 100 of the secondUAV configuration 624 when such a UAV 100 is seated in the nest 210. Incertain embodiments, each contact pad 222, 224 may extend between theupper region 612 and the lower region 614 such that the charging device220 is operable to charge both UAVs of the first UAV configuration 622and UAVs of the second UAV configuration 624.

As described above, the outer geometry of the shoes 633 generallyconforms to the inner geometry of the nest 210. Those skilled in the artwill readily recognize that such general conformity increases the areaof contact between the landing apparatus 630 and the nest 210, therebyincreasing the stability of a UAV 100 mounted in the docking station200/610. In addition to providing increased structural stability, thisincreased area of contact further reduces the electrical resistance atthe interface between the landing apparatus 630 and the contact pads222, 224, thereby facilitating the charging process as described above.

As noted above, the contact pads 222, 224 are electrically isolated fromone another, for example by one or more insulating regions 223. As alsonoted above, the landing assistance device 206 may provide the UAV 100with position and orientation information that aids the UAV 100 inlanding within the nest 210. In order to mitigate the possibility of ashort circuit condition, the position and orientation informationprovided by the landing assistance device 206 may be used by the controlsystem 150 to ensure that the shoes 633 do not cross the insulatingregions 223 in a manner that would electrically connect the contact pads222, 224. For example, the control system 150 may utilize the positionand orientation information provided by the landing assistance device206 to align the gaps between the shoes 633 with the insulating regions223 such that each shoe 633 rests on a corresponding one of the contactpads 222, 224.

In the illustrated form, the nest 210 is frustoconical, and each shoe633 is provided as a segment of a cone. It is also contemplated that theshoes 633 may be planar, for example in embodiments in which the nest210 is defined by a plurality of planar sidewalls 219. Moreover, whileeach of the illustrated shoes 633 extends between and connects acorresponding pair of the feet 634, it is also contemplated that eachshoe 633 may be mounted to a single corresponding and respective foot634.

As noted above, the UAV 100 may be provided with one or more modularauxiliary systems 170. In implementing the product line 600, each UAVconfiguration 622, 624 may have a corresponding common platformincluding those components required for basic flight operations (e.g.,the chassis 110, the arms 120, and the control system 150). From thiscommon platform, one or more UAV species can be created by installing tothe common platform an appropriate set of landing apparatus 130 and/orauxiliary system(s) 170. For example, a first landing apparatusconfiguration may include shorter legs, a second landing apparatusconfiguration may include longer legs, and landing apparatuses of thefirst and second configurations may be interchangeable such that eachlanding apparatus configuration is operable to be installed to thecommon platform for the UAV configuration. In certain embodiments, thelanding apparatus configuration with the longer legs may further includeadditional battery compartments 114 operable to store additionalbatteries, which may increase the operational time and/or range for theUAV 100.

It should be appreciated that the modularity of the product line 600need not be limited to the landing apparatus 630. For example, certainspecies within a particular UAV configuration may include the carriage180, while the carriage 180 may be omitted from other species. Likewise,certain species within a particular UAV configuration may include thewinch mechanism 300, while the winch mechanism 300 may be omitted fromother species. Similarly, the surveillance device 172 may be included insome species and excluded from others, and different forms ofsurveillance device 172 may be provided for different species. Forexample, the surveillance device 172 of one or more species may includean infrared camera, and the surveillance device 172 of one or morespecies may include a visible light camera. In certain embodiments, oneor more of the auxiliary systems 170 may be configured for mounting toplural UAV configurations. Additionally or alternatively, one or more ofthe auxiliary systems 170 may be dedicated to a corresponding UAVconfiguration. For example, the larger UAV configuration 622 may becapable of generating the lift required to carry a relatively heavyauxiliary system (e.g., additional batteries 162), whereas the smallerUAV configuration 624 may be unable to generate the requisite lift.

With additional reference to FIG. 21, illustrated therein is a dockingstation 700 according to certain embodiments. The docking station 700 issubstantially similar to the above-described docking station 200, andsimilar reference characters are used to indicate similar elements andfeatures. For example, the docking station 700 includes a nest 710 andmay further include a charging device 720, which respectively correspondto the above-described nest 210 and charging device 220. In the interestof conciseness, the following description of the docking station 700focuses primarily on features that are different from those describedabove with reference to the docking station 200, such as a cover 730 anda base plate 740.

As with the above-described nest 210, the nest 710 extends along acentral axis 711, and includes an upper portion 712 and a lower portion714. The upper portion 712 defines an upper opening 713 having an upperopening diameter d713 that is greater than the landing apparatuseffective diameter d130 such that upper opening 713 is operable toreceive the landing apparatus 130. There exists a plane normal to thecentral axis 711 in which the diameter d710 of the nest 710 is equal tothe landing apparatus effective diameter d130 such that the landingapparatus 130 is operable to be supported by the nest 710. Additionally,the lower portion 714 defines a lower opening 715 having a lower openingdiameter d715 that is less than the landing apparatus effective diameterd130 such that the landing apparatus 130 is inoperable to pass throughthe lower opening 715. Thus, when the UAV 100 lands in the nest 710, theunderside of the UAV 100 is accessible via the lower opening 715.

In certain embodiments, the docking station 700 may include a chargingdevice 720 corresponding to the above-described charging device 220.Thus, the charging device 720 may include a first contact pad 722 and asecond contact pad 724 electrically isolated from the first contact pad722. In such forms, the docking station 700 may be operable to chargethe power supply 160 of the UAV 100 in a manner analogous to thatdescribed above. It is also contemplated that the charging device 720may be omitted from the docking station 700.

In the illustrated form, the docking station 700 further includes acover 730 operable to cover the upper end of the nest 710 to selectivelyenclose the upper opening 713. In certain forms, the cover 730 may bemoved manually to open and close the nest 710. In certain embodiments,the docking station 700 may include a motor operable to move the cover730 to open and close the nest 710. The cover 730 may, for example,include one or more movable panels 732. In the illustrated form, thepanels 732 are retractable along a plane occupied by the panels 732 whenthe cover 730 is in its closed position. In other forms, the panel(s)732 may pivot between the open and closed positions thereof. In certainembodiments, the panel(s) 732 may be rigid. In certain embodiments, thepanel(s) 732 may be flexible. For example, the panel(s) 732 may bearticulated such that the panels are capable of bending or curving. Itis also contemplated that the panel(s) 732 may be replaced orsupplemented by other forms of covers, such as a tarp, or that the cover730 may be omitted.

The docking station 700 may further include a base plate 740 operable toat least partially cover the lower opening 715. In the illustrated form,the base plate 740 is attached to the lower portion 714 of the nest 710via a hinge 742. It is also contemplated that the base plate 740 may beoperable to cover the lower opening 715 by swiveling side to side, or inanother manner, such as those described above with reference to themanners in which the cover 730 may be operable to cover the upperopening. While other locations are contemplated, in the illustratedform, the landing assistance device 706 is mounted to the base plate 740such that the landing assistance device 706 is accessible via the upperopening 713 when the base plate 740 is in its closed position.

As described herein, the docking station 700 may be provided to a basestation 750, and may occasionally be exposed to the elements, such asrain and snow. In order to mitigate the adverse effects of theseelements and to avoid entry of precipitation into the base station 750,the docking station 700 may be provided with seals, gutters, channels,drains, pumps, and/or tubes that direct the precipitation away from thenest 710. As one example, the base plate 740 may seal with the lower endof the nest 710 when in the closed position, and may define a funnelthat leads to a tube to collect precipitation and prevent pooling ofprecipitation within the nest 710.

Also illustrated in FIG. 21 is a base station 750 including the dockingstation 700. The base station 750 includes a roof or ceiling 752 towhich the docking station 700 is mounted. In the illustrated form, thenest 710 extends through the ceiling 752 such that the upper portion 712is positioned above the ceiling 752 and the lower portion 714 ispositioned below the ceiling 752. In other embodiments, the upperopening 713 may be defined in the ceiling 752, and the nest 710 mayextend downward from the ceiling 752 into a loading area 754 that is atleast partially covered by the ceiling 752. In further embodiments, thelower opening 715 may be defined in the ceiling 752, and the nest 710may extend upward from the ceiling 752.

In certain embodiments, the base station 750 may be provided as a staticbase station. For example, the base station 750 may be a distributioncenter, a residence, or a place of business. It is also contemplatedthat the base station 750 may be provided as a mobile base station, suchas a delivery vehicle. For example, the loading area 754 may be providedas the trailer or stowage cabin of a delivery vehicle, such as a truckor other land vehicle, a plane or other air vehicle, or a boat or otherwater vehicle. Additionally, in embodiments in which the docking station700 includes the charging device 720, the charging device 720 mayreceive power from a power supply of the base station 750. For example,in embodiments in which the base station 750 is a static structure, thecharging device 720 may be connected to the line power that powers thebase station. In embodiments in which the base station 750 is mobile,the charging device 720 may receive power from a battery or other powersource of the mobile base station.

In certain embodiments, one or more delivery loads 762, 764 may bedisposed in the loading area 754, for example on one or more shelves756. The delivery loads may include first, UAV-deliverable deliveryloads 762 and second, non-UAV-deliverable delivery loads 764. Asdescribed herein, a process 800 according to certain embodimentsinvolves delivering a UAV-deliverable delivery load 762 from the basestation 750 to a corresponding delivery zone using the UAV 100. Each ofthe UAV-deliverable delivery loads 762 is sized and shaped such that thedelivery load 762 is operable to pass through the lower opening 715.Each of the UAV-deliverable delivery loads 762 also has a weight that isless than or equal to the maximum payload weight for the UAV 100. Thenon-UAV-deliverable delivery loads 764 may have one or morecharacteristics that render the loads 764 unsuitable for delivery by theUAV 100, such as size, shape, and/or weight.

With additional reference to FIG. 22, in certain embodiments, the basestation 750 may be provided as a delivery vehicle 750′. While theillustrated delivery vehicle 750′ is a land delivery vehicle, it is alsocontemplated that the delivery vehicle 750′ may be provided as an air orwater delivery vehicle. Regardless of the form of the delivery vehicle750′, the delivery vehicle 750′ may include a stowage compartment 754′that defines the loading area 754. For example, a roof 752′ of thedelivery vehicle 750′ may define the ceiling 752 of the loading area754, and the stowage compartment 754′ may have the loads 762, 764 storedon shelves 756 and/or other support structures therein. As describedherein, the delivery vehicle 750′ may be utilized to deliver the loads762, 764 in a process such as the process 800 illustrated in FIG. 23.

As noted above, the illustrated delivery vehicle 750′ is a land deliveryvehicle. As is typical of land delivery vehicles, the vehicle 750′includes a plurality of wheels 772, a prime mover 774 operable to driveat least one of the wheels 772, and a battery 776 operable to provideelectrical power to one or more electrical systems of the vehicle 750′.In certain embodiments, the prime mover 774 may take the form of anengine, such as an internal combustion engine. In certain embodiments,the prime mover 774 may take the form of an electric motor that operatesusing power stored in the battery 776. In embodiments in which the basestation 700 comprises a charging device 720, the charging device 720 maybe operable to charge the UAV 100 using electrical power provided by thebattery 776.

In the illustrated embodiment, the stowage compartment 754′ ispermanently coupled to the cab of the vehicle 750′. It is alsocontemplated that the vehicle 750′ may include a cab portion and atrailer removably secured to the cab portion, such as is typically thecase with semi-trucks. In such forms, the trailer may define the stowagecompartment 754′. Additionally, the prime mover 774 may be operable torotate the wheels 772 of the cab portion to move the cab portion,thereby rotating the wheels 772 of the trailer as the trailer moves withthe cabin portion. In certain embodiments, the land vehicle may simplybe provided as a trailer that is not coupled to a cabin at the time ofoperation.

With additional reference to FIG. 23, illustrated therein is a process800 according to certain embodiments, which may be employed to deliverat least one delivery load to a corresponding destination or deliveryzone. Blocks illustrated for the processes in the present applicationare understood to be examples only, and blocks may be combined ordivided, and added or removed, as well as re-ordered in whole or inpart, unless explicitly stated to the contrary. While the blocks areillustrated in a relatively serial fashion, it is to be understood thattwo or more of the blocks may be performed concurrently or in parallelwith one another unless specified to the contrary. Moreover, while theprocess 800 is described with specific reference to the example UAV 100illustrated in FIG. 1, it is to be appreciated that the process 800 maybe performed using a UAV of similar or different configurations.Additionally, although the process 800 is described in connection with amobile base station 750 in the form of a delivery vehicle 750′, it isalso contemplated that certain blocks of the process 800 may beperformed in connection with another form of mobile base station and/ora static base station.

The illustrated process 800 generally includes a landing procedure 810,a charging procedure 820, a loading procedure 830, a delivery procedure840, and a return procedure 850. As described herein, the landingprocedure 810 generally involves landing a UAV 100 in a nest 710 of abase station 750, the charging procedure 820 generally involves chargingthe UAV 100 via a charging device 720, the loading procedure 830generally involves loading a delivery load 762 onto the UAV 100, thedelivery procedure 840 generally involves delivering the load 762 to adestination such as a delivery zone 790, and the return procedure 850generally involves returning the UAV 100 to the base station 750.

The landing procedure 810 generally involves landing the UAV 100 withina nest 710 of the base station 750. In certain embodiments, such asthose in which the UAV 100 is capable of autonomous landing, the landingprocedure 810 may be performed by or under control of the control system150. In certain embodiments, such as those in which the UAV 100 iscapable of being controlled remotely, the landing procedure 810 may beperformed under control of a remote control system and/or a user.

As noted above, the nest 710 includes an upper opening 713 having anupper opening diameter d713 and a lower opening 715 having a loweropening diameter d715 less than the upper opening diameter d713.Moreover, the upper opening diameter d713 is greater than the landingapparatus effective diameter d130, and the lower opening diameter d715is less than the landing apparatus effective diameter d130. The landingprocedure 810 may, for example, involve landing the UAV 100 in the nest710 based upon information received from the landing assistance device706 in a manner analogous to that described above. In certainembodiments, the landing procedure 810 may involve landing the UAV 100in the nest 710 based upon positional information received from thelanding assistance device 706. In certain embodiments, the landingprocedure 810 may be performed while the delivery vehicle 750′ is still(e.g., parked). It is also contemplated that the landing procedure 810may be performed while the delivery vehicle 750′ is moving.

In certain embodiments, the landing procedure 810 may involve landingthe UAV 100 in the nest 710 in a predetermined orientation, for exampleusing orientation information provided by the landing assistance device706. The predetermined orientation may be one in which at least one leg132 is in contact with the first contact pad 722 and at least one leg132 is in contact with the second contact pad 724. In embodiments inwhich the landing apparatus includes one or more shoes such as theabove-described shoes 633, the predetermined orientation may be one inwhich each shoe is positioned on exactly one contact pad such that ashort circuit condition does not occur.

In certain embodiments, the process 800 may include a charging procedure820, which generally involves charging the UAV 100 via the chargingdevice 720. The charging procedure 820 may, for example, be performed byand/or using the charging device 720. For example, the chargingprocedure 820 may involve applying a voltage differential to the firstcontact pad 722 and the second contact pad 724 such that current flowsto the power supply 160 via the landing apparatus 130/630 as describedabove. In certain embodiments, one or more sensors may be utilized todetermine when to start the charging (e.g., when the sensors indicatethat the UAV 100 has landed in the nest). In certain embodiments, one ormore sensors may be utilized to regulate the rate of charge according tothe needs of the batteries 162. Such sensors may additionally oralternatively stop the charging and transition to a battery-maintenancefunction at the appropriate time (e.g., when a voltage sensor indicatesthat the charge in the batteries 162 has reached full or near-fullcharge).

The process 800 includes a loading procedure 830, which generallyinvolves loading a UAV-deliverable delivery load 762 to the UAV 100. Theloading procedure 830 may, for example, be performed by deliverypersonnel, such as the operator of the delivery vehicle 750′. As notedabove, the delivery vehicle 750′ may include a stowage compartment 754′defining the loading area 754. In certain embodiments, the loadingprocedure 830 may include lowering the line 340 through the loweropening 715 such that the attachment device 360 is positioned within theloading area 754. In such forms, the loading procedure 830 may involveattaching the load 762 to the attachment device 360 and optionallyretracting the line 340 to raise the attached load 762. In certainembodiments, the loading procedure 830 may involve passing the load 762through the lower opening 715 and attaching the load 762 to theattachment device 360 and/or the carriage 180. Further details that maybe associated with the loading procedure are provided above withreference to the above-described loading procedure 410.

The process 800 further includes a delivery procedure 840, whichgenerally involves delivering at least one delivery load to acorresponding delivery zone 790. In certain embodiments, such as thosein which the UAV 100 is capable of autonomous delivery, the deliveryprocedure 840 may be performed at least in part by or under control ofthe control system 150. In certain embodiments, such as those in whichthe UAV 100 is capable of being controlled remotely, the deliveryprocedure 840 may be performed under control of a remote control systemand/or a user.

In certain embodiments, such as those in which the UAV 100 is operableto autonomously deliver the load 762, the delivery procedure 840 mayinclude block 842. Block 842 generally involves providing the UAV 100with information related to the location of the delivery zone 790corresponding to the delivery load 762 that has been loaded to the UAV100. In certain embodiments, the information may be provided by the load762 itself. As one example, the load 762 or a sticker attached theretomay include the information, either in plaintext or in an encoded form(e.g., a barcode), and the control system 150 may derive suchinformation via an optical scanner of the sensor array 156. As anotherexample, the load 762 may be provided with a radio frequencyidentification (RFID) tag having the information encoded thereon, andthe control system 150 may derive such information via an RFID reader ofthe sensor array 156. In certain embodiments, the information may beprovided in another manner. As one example, the delivery personnel mayupload the information to the control system 150 via an external device190 (e.g., a mobile device), which may be in communication with thecontrol system 150 via the wireless communication device(s) 158.

The delivery procedure 840 further includes block 844, which generallyinvolves delivering the load 762 to the corresponding delivery zone 790.Block 844 may, for example, involve delivering the load 762 to thecorresponding delivery zone 790 in a manner analogous to that describedabove with reference to the above-described procedures 420, 430, 440,450, 460 of the process 400. Should the line 340 become tangled, thedelivery procedure 840 may further include severing the line 340, forexample as described above with reference to the line severing procedure470 of the process 400.

In certain embodiments, such as those in which the base station 750 isprovided as a delivery vehicle 750′, the delivery procedure 840 mayfurther include block 846, which generally involves delivering a seconddelivery load to a second delivery zone 790′ remote from the firstdelivery zone 790. For example, the load delivered in block 846 may be anon-UAV-deliverable load 764. Block 846 may involve navigating thedelivery vehicle 750′ to the second delivery zone 790′ and deliveringthe second delivery load 764 according to conventional methods. Incertain embodiments, such as those in which the delivery of block 844 isperformed autonomously or under the control of someone other than thedriver of the delivery vehicle 750′, the delivery of the second load 764in block 846 may be performed concurrently with the delivery of thefirst load 762 in block 844.

The process 800 may further include the return procedure 850, whichgenerally involves returning the UAV 100 to a base station 750. Incertain embodiments, the return procedure 850 may involve returning theUAV 100 to the same base station 750 at which the delivery load 762 wasloaded onto the UAV 100 (e.g., the delivery vehicle 750′). It is alsocontemplated that the return procedure 850 may involve returning the UAV100 to another base station 750. For example, if it is determined thatanother base station (e.g., another delivery vehicle 750′) is closer tothe first delivery zone 790 and/or is in need of a UAV 100, the returnprocedure 850 may involve returning the UAV 100 to such other basestation 750. Further details that may be associated with the returnprocedure 850 are provided above with reference to the return procedure480 of the above-described process 400. Once the UAV 100 has returned tothe base station 750 (e.g., the delivery vehicle 750′) in the returnprocedure 850, the UAV 100 may repeat the landing procedure 810 to beginthe process 800 anew.

With additional reference to FIG. 24, illustrated therein is a UAV 100′according to certain embodiments, which is a variant of the UAV 100illustrated in FIGS. 1-8. The UAV 100′ is substantially similar to theUAV 100, and includes the arms 120 (one of which is omitted from theillustration for clarity), support structure 140, and control system 150described above. In the interest of conciseness, the followingdescription of the UAV 100′ focuses primarily on features that differfrom those described above with reference to the UAV 100. It is to beappreciated, however, that elements and features described withreference to only one of the UAVs 100, 100′ may nonetheless beapplicable to the other of the UAVs 100, 100′. For example, the UAV 100′includes a cap 108 that, while not specifically illustrated in FIGS.1-8, may nonetheless be provided to the UAV 100. The cap 108 covers thesupport structure 140 and the control system 150 to provide at leastsome degree of protection from the elements.

The illustrated UAV 100′ includes a chassis 110′, a landing apparatus130′, and a power supply 160′, which are respectively provided asvariations of the chassis 110, the landing apparatus 130, and the powersupply 160. More particularly, the chassis 110′ is an extended chassisthat includes not only the first and second battery compartments 114 a,114 b, but also third and fourth battery compartments 114 c, 114 d.Likewise, the power supply 160 includes not only the first and secondbatteries 162 a, 162 b, but also third and fourth batteries 162 c, 162d. The legs 132′ of the landing apparatus 130′ may be longer than thelegs 132 of the above-described landing apparatus 130 in order toaccommodate the extended form of the chassis 110′ and the additionalbatteries 162 c, 162 d.

The control system 150 is connected with the power supply 160′ such thatthe control system 150 is operable to receive power from the batteries162. The UAV 100′ is operational at least when all four batteries 162a-162 d are installed, and may further be operable when less than all ofthe batteries 162 are removed. For example, the UAV 100′ may be operablein a first mode when all four batteries 162 a-162 d are installed, andmay be operable in a second mode when only the first and secondbatteries 162 a, 162 b are installed. The first mode may be advantageousin situations where a greater flight time is desired, whereas the secondmode may be advantageous in situations where greater agility and/orspeed are desired.

It should be appreciated that the UAVs 100, 100′ may be individualspecies of a particular UAV configuration within a product line, such asthe above-described product line 600. For example, the UAV 100 may be amember of a first species of the first UAV configuration 622, and theUAV 100′ may be a member of a second species of the first UAVconfiguration 622. In certain embodiments, a UAV of one species may beconverted to a UAV of another species by substituting one or moremodular components. For example, the battery compartments of the chassismay be defined in part by the modular landing apparatus such that thebase model UAV 100 can be converted to the extended-range UAV 100′ byreplacing the landing apparatus 130 with the landing apparatus 130′ andproviding additional batteries 162 c, 162 d. Such substitution may, forexample, be performed without replacing the base components of the UAVconfiguration (e.g. the chassis housing 112, the arms 120, the supportstructure 140, and the control system 150).

With additional reference to FIGS. 25a-25d , illustrated therein arealternative geometries for a nest, such as the nest 210. As noted above,the outer wall of the nest may be curved within a plane defined in partby the central axis of the nest. As one example, FIG. 25a illustrates anest 910 including a sidewall 919 that defines a convex curve in a planeincluding the central axis 911. The convex curve is one in which theslope of the curve is greater in the lower portion 914 than in the upperportion 916. As another example, FIG. 25b illustrates a nest 920including a sidewall 929 that defines a concave curve in a planeincluding the central axis 921. The concave curve is one in which theslope of the curve is greater in the upper portion 916 than in the lowerportion 914.

As also noted above, a nest may include a plurality of substantiallyplanar sidewalls. As one example, FIG. 25c illustrates a nest 930 inwhich a plurality of trapezoidal sidewalls 939 are joined together suchthat the smaller ends define the lower portion 934 and the larger endsdefine the upper portion 916. As another example, FIG. 25d illustrates anest 940 in which a plurality of triangular sidewalls 949 are joinedtogether such that the tips of the triangles define the lower portion944 and the larger ends define the upper portion 946.

With additional reference to FIG. 26, illustrated therein is a latchmechanism 1000, which may be utilized as the latch mechanism 115 of theUAV 100. The latch mechanism 1000 generally includes a fixed component1010 fixedly coupled to a leg 132 of the landing apparatus 130, and amovable component 1020 movably mounted to the leg 132. The fixedcomponent 1010 includes a body portion 1012 and a plurality of verticalsplines 1014 extending upward from the body portion 1012 such that oneor more channels 1016 are formed between the splines 1014. Similarly,the movable component 1020 includes a body portion 1022 and a pluralityof vertical splines 1024 extending downward from the body portion 1022such that one or more channels 1026 are formed between the splines 1024.Extending radially from the body portion 1022 is a flange 1028, and thebody portion 1022 includes a knob 1023 that facilitates manipulation ofthe movable portion 1022 to move the latch mechanism 1000 between anunlatching state and a latching state.

With additional reference to FIG. 27, illustrated therein is the latchmechanism 115, 1000 in its unlatching state. In this state, the movablecomponent 1020 is in its unlatching position, which includes a firstrotational position in which the flange 1028 does not project into theinsertion/removal path of the corresponding battery 162. As a result,the battery 162 can be inserted into the battery compartment 114 alongthe horizontal insertion axis 102 without interference from the latchmechanism 115. As the battery 162 is inserted, the rail(s) 117 guidesuch insertion to restrict lateral movement of the battery 162 until thebattery 162 abuts an end wall of the compartment 114.

With the battery 162 inserted, the latch mechanism 115, 1000 may betransitioned from its unlatching state to its latching state by liftingthe movable component 1020 along the leg 132 such that the splines 1014,1024 exit the channels 1016, 1026, for example using the knob 1023. Withthe splines 1014, 1024 removed from the channels 1016, 1026, the movablecomponent 1020 can be rotated about the leg 132 to a second rotationalposition in which at least one of the splines 1014, 1024 is aligned witha different one of the channels 1016, 1026. The movable component 1020may then be lowered to cause the one or more splines 1014, 1024 to placethe movable component 1020 in its latching position, thereby placing thelatch mechanism 115, 1000 in its latching state and securing the battery162 within the compartment 114.

With additional reference to FIG. 28, illustrated therein is the latchmechanism 115, 1000 in its latching state. In this state, the movablecomponent 1020 is in its latching position, which is rotationally offsetfrom the unlatching position. With the movable component 1020 in itslatching position, the flange 1028 projects into the insertion/removalpath of the corresponding battery 162. As such, an attempt to remove thebattery 162 along the insertion axis 102 will cause the battery 162 toengage the flange 1028, thereby urging the movable component 1020 torotate toward its unlatching position. However, such rotation of themovable component 1020 is prevented by engagement of the fixed componentsplines 1014 with the movable component splines 1024. More particularly,a spline of one of the components is received in a channel of the othercomponent such that rotation of the movable component 1020 is prevented.As a result, the latch mechanism 115, 1000 in its latching stateselectively retains the battery 162 within the corresponding compartment114.

In order to permit removal of the battery 162, the latch mechanism 115,1000 may be transitioned from its latching state to its unlatching stateby reversing the latching process. More particularly, the movablecomponent 1020 may be lifted along the leg 132 such that the splines1014, 1024 exit the channels 1016, 1026, for example using the knob1023. With the splines 1014, 1024 removed from the channels 1016, 1026,the movable component 1020 can be rotated about the leg 132 to its firstrotational position, in which at least one of the splines 1014, 1024 isagain aligned with one of the channels 1016, 1026. The movable component1020 may then be lowered to cause the one or more splines 1014, 1024 toplace the movable component in its unlatching position, thereby placingthe latch mechanism 115, 1000 in its unlatching state and permittingremoval of the battery 162 from the battery compartment 114.

With additional reference to FIG. 29-32, illustrated therein is acarriage lock mechanism 1100 according to certain embodiments. Alsoillustrated in FIG. 29 are certain other portions of the carriage 180,including the retention arm 186′ and the motor 188. The carriage lockmechanism 1100 generally includes a housing assembly 1110 to which themotor 188 is mounted, a cam shaft 1120 engaged with the motor 188 suchthat the motor 188 is operable to rotate the cam shaft 1120, a lockingshaft 1130 rotationally coupled with the retention arm 186′, and a latchdevice 1140 operable to selectively prevent rotation of the lockingshaft 1130 and the retention arm 186′.

The housing assembly 1110 generally includes a mounting bracket 1112mounted to underside of the chassis floor 118 and to which the motor 188is mounted, a cam shaft support bracket 1114 secured to the mountingbracket 1112 and rotatably supporting the cam shaft 1120, and a lockingshaft support bracket 1116 secured to the mounting bracket 1112 androtatably supporting the locking shaft 1130. The mounting bracket 1112and the output shaft support bracket 1116 cooperate to define a chamber1118 in which the latch device 1140 is seated.

The cam shaft 1120 is engaged with the motor 188 such that rotation ofthe motor shaft 188′ causes a corresponding rotation of the cam shaft1120. In the illustrated form, the cam shaft 1120 is rotationallycoupled with the motor shaft 188′. In other embodiments, the cam shaft1120 may be indirectly engaged with the motor shaft 188′, for examplevia one or more gears. The illustrated cam shaft 1120 includes agenerally tubular portion 1122 that matingly engages the motor shaft188′, and an eccentric lobe 1124 projecting from the tubular portion1122. As described herein, the motor 188 is operable to rotate the camshaft 1120 between a locking position and an unlocking position totransition the latch device 1140 between a blocking state and anunblocking state.

The locking shaft 1130 is rotatably supported by the housing assembly1110 and is rotationally coupled with the retention arm 186′. Moreparticularly, a first end portion 1132 of the locking shaft 1130 isrotationally coupled with the retention arm 186′, and an opposite secondend portion 1134 of the locking shaft 1130 is received in the chamber1118. Additionally, the second end portion 1134 defines a cavity 1135 inwhich the latch device 1140 is at least partially seated.

The latch device 1140 is seated in the chamber 1118, and generallyincludes a mounting post 1142, a latchbolt 1144 movably mounted to themounting post 1142 for movement between a projected position and adepressed position, and a biasing member 1146 biasing the latchbolt 1144toward the projected position. In the illustrated form, the biasingmember 1146 is provided in the form of a compression spring. It is alsocontemplated that the biasing member 1146 may be provided in anotherform, such as that of an extension spring, a torsion spring, a leafspring, an elastic member, a magnetic biasing member, or another form ofbiasing member.

FIG. 31 illustrates the carriage lock mechanism 1100 in its latchingstate, in which the carriage lock mechanism 1100 holds the second grip184 in its capturing position. In this state, the cam shaft 1120 is inits locking position, in which the lobe 1124 is disengaged from thelatchbolt 1144 such that the biasing member 1146 biases the latchbolt1144 to its extended or locking position. With the latchbolt 1144 in theprojected position, a nose 1145 of the latchbolt 1144 projects throughan opening 1111 that is open to the chamber 1118. As a result, theextended latchbolt 1144 prevents rotation of the locking shaft 1130 andthe retention arm 186′ coupled thereto, thereby preventing pivoting ofthe second grip 184 from its capturing position.

The carriage lock mechanism 1100 can be transitioned from its latchingstate (FIG. 31) to its unlatching state (FIG. 32) by rotating the camshaft 1120 from its locking position to its unlocking position. Forexample, the control system 150 may operate the motor 188 to rotate themotor shaft 188′ through an angle sufficient to cause the cam shaft 1120to rotate from its locking position to its unlocking position. As thecam shaft 1120 rotates from the locking position to the unlockingposition, the lobe 1124 engages the nose 1145 of the latchbolt 1144,thereby driving the latchbolt 1144 to its depressed position against theforce of the biasing member 1146 urging the latchbolt 1144 toward itsprojected position.

With additional reference to FIG. 32, illustrated therein is thecarriage lock mechanism 1100 in its unlatching state, in which thecarriage lock mechanism 1100 permits pivoting of the second grip 184from its capturing position to its releasing position. In this state,the cam shaft 1120 is in its unlocking position, in which the lobe 1124has driven the latchbolt 1144 to its depressed position as describedabove. With the latchbolt 1144 retracted, the locking shaft 1130 and theretention arm 186′ are operable to rotate from the home positionsthereof, thereby permitting pivoting of the second grip 184 from itscapturing position. For example, in the event that the carriage 180 isloaded, the weight of the load may urge the second grip 184 toward itsreleasing position such that the load is operable to drop from thecarriage 180.

As the second grip 184 pivots to its releasing position, the radiallyouter end of the mounting post 1142 (which in the illustrated form isprovided in the form of a threaded fastener) travels along an arcuatechannel 1119 connected with the chamber 1118. When the mounting post1142 reaches the end of the channel 1119, the end wall of the channel1119 engages the mounting post 1142 and limits the rotational movementof the locking shaft 1130, thereby limiting the pivoting of the secondgrip 184.

As noted above, when the carriage lock mechanism 1100 is in its lockingstate (FIG. 31), the latchbolt 1144 is in its projected position, inwhich the nose 1145 extends through the opening 1111. As a result, theweight of the load being held by the second grip 184 is borne by thelocking shaft 1130, the housing assembly 1110, and the latch device 1140that interferes with rotation of the locking shaft 1130 relative to thehousing assembly 1110. Notably, no rotational forces are exerted on themotor shaft 188′. As a result, the motor 188 need not be supplied withpower to resist the rotation of the second grip 184. The weight of thepackage can thus be borne by the carriage 180 entirely mechanicallywithout the requirement of power being supplied to the motor 188.

In the illustrated form, the carriage lock mechanism 1100 bears theweight of the load exerted on the second grip 184 mechanically, and doesnot require the motor 188 to be powered for the reasons described above.It is also contemplated that the carriage 180 may not necessarilyinclude the carriage lock mechanism 1100. For example, the motor shaft188′ may be directly coupled with the retention arm 186′ or indirectlyengaged with the retention arm 186′, for example via one or more gears.In such forms, the motor 188 may resist rotation of the retention arm.However, the motor 188 may need to be supplied with power in order toresist such rotation. As such, it may be preferable to include acarriage lock mechanism that mechanically bears the weight of the load,such as the carriage lock mechanism 1100.

As noted above, the carriage 180 may be loaded with a delivery load, forexample as described above with reference to block 414. Such loading ofthe carriage 180 may begin with the second grip 184 in its releasingposition and the cam shaft 1120 in its locking position, and the usermay insert the load into the carriage 180 such that the load is at leastpartially supported by the first grip 181. The second grip 184 may thenbe pivoted (e.g., by the user and/or by a biasing mechanism of thecarriage) to its capturing position such that the load is captured bythe grips 181, 184. As the second grip 184 pivots to its capturingposition, the locking shaft 1130 and the latch device 1140 rotate to thehome positions thereof, at which point the biasing member 1146 drivesthe latchbolt 1144 to its projected position such that the nose 1145projects through the opening 1111. At this point, the carriage lockmechanism is in the locking state illustrated in FIG. 31, where it willremain until the motor 188 is actuated by the control system 150 torotate the cam shaft 1120 to its unlocking position.

In the illustrated form, the driver of the carriage 180 is provided inthe form of a motor 188, and more particularly as a rotary motor thatrotates the motor shaft 188′ between a capturing position correspondingto the locking position of the cam shaft 1120 and a releasing positioncorresponding to the unlocking position of the cam shaft 1120 such thatthe cam shaft 1120 rotates to transition the latch device 1140 betweenits latching state and its unlatching state. It is also contemplatedthat the driver of the carriage 180 may be provided in another form. Forexample, the driver may be provided in the form of a solenoid or linearmotor that linearly drives a driver shaft to selectively depress thelatchbolt 1144.

With additional reference to FIG. 33, illustrated therein is asimplified block diagram of at least one embodiment of a computingdevice 1200. The illustrative computing device 1200 depicts at least oneembodiment of a controller or control system that may be utilized inconnection with the controller 152 and/or control system 150 illustratedin FIG. 7.

Depending on the particular embodiment, the computing device 1200 may beembodied as a server, desktop computer, laptop computer, tabletcomputer, notebook, netbook, Ultrabook™, mobile computing device,cellular phone, smartphone, wearable computing device, personal digitalassistant, Internet of Things (IoT) device, control panel, processingsystem, router, gateway, and/or any other computing, processing, and/orcommunication device capable of performing the functions describedherein.

The computing device 1200 includes a processing device 1202 thatexecutes algorithms and/or processes data in accordance with operatinglogic 1208, an input/output device 1204 that enables communicationbetween the computing device 1200 and one or more external devices 1210,and memory 1206 which stores, for example, data received from theexternal device 1210 via the input/output device 1204.

The input/output device 1204 allows the computing device 1200 tocommunicate with the external device 1210. For example, the input/outputdevice 1204 may include a transceiver, a network adapter, a networkcard, an interface, one or more communication ports (e.g., a USB port,serial port, parallel port, an analog port, a digital port, VGA, DVI,HDMI, FireWire, CAT 5, or any other type of communication port orinterface), and/or other communication circuitry. Communicationcircuitry may be configured to use any one or more communicationtechnologies (e.g., wireless or wired communications) and associatedprotocols (e.g., Ethernet, Bluetooth®, Bluetooth Low Energy (BLE),WiMAX, etc.) to effect such communication depending on the particularcomputing device 1200. The input/output device 1204 may includehardware, software, and/or firmware suitable for performing thetechniques described herein.

The external device 1210 may be any type of device that allows data tobe inputted or outputted from the computing device 1200. For example, invarious embodiments, the external device 1210 may be embodied as thesensor array 156, the wireless communication device 158, the rotors 126,the auxiliary system(s) 170, and/or the external device 190. Further, insome embodiments, the external device 1210 may be embodied as anothercomputing device, switch, diagnostic tool, controller, printer, display,alarm, peripheral device (e.g., keyboard, mouse, touch screen display,etc.), and/or any other computing, processing, and/or communicationdevice capable of performing the functions described herein.Furthermore, in some embodiments, it should be appreciated that theexternal device 1210 may be integrated into the computing device 1200.

The processing device 1202 may be embodied as any type of processor(s)capable of performing the functions described herein. In particular, theprocessing device 1202 may be embodied as one or more single ormulti-core processors, microcontrollers, or other processor orprocessing/controlling circuits. For example, in some embodiments, theprocessing device 1202 may include or be embodied as an arithmetic logicunit (ALU), central processing unit (CPU), digital signal processor(DSP), and/or another suitable processor(s). The processing device 1202may be a programmable type, a dedicated hardwired state machine, or acombination thereof. Processing devices 1202 with multiple processingunits may utilize distributed, pipelined, and/or parallel processing invarious embodiments. Further, the processing device 1202 may bededicated to performance of just the operations described herein, or maybe utilized in one or more additional applications. In the illustrativeembodiment, the processing device 1202 is of a programmable variety thatexecutes algorithms and/or processes data in accordance with operatinglogic 1208 as defined by programming instructions (such as software orfirmware) stored in memory 1206. Additionally or alternatively, theoperating logic 1208 for processing device 1202 may be at leastpartially defined by hardwired logic or other hardware. Further, theprocessing device 1202 may include one or more components of any typesuitable to process the signals received from input/output device 1204or from other components or devices and to provide desired outputsignals. Such components may include digital circuitry, analogcircuitry, or a combination thereof.

The memory 1206 may be of one or more types of non-transitorycomputer-readable media, such as a solid-state memory, electromagneticmemory, optical memory, or a combination thereof. Furthermore, thememory 1206 may be volatile and/or nonvolatile and, in some embodiments,some or all of the memory 1206 may be of a portable variety, such as adisk, tape, memory stick, cartridge, and/or other suitable portablememory. In operation, the memory 1206 may store various data andsoftware used during operation of the computing device 1200 such asoperating systems, applications, programs, libraries, and drivers. Itshould be appreciated that the memory 1206 may store data that ismanipulated by the operating logic 1208 of processing device 1202, suchas, for example, data representative of signals received from and/orsent to the input/output device 1204 in addition to or in lieu ofstoring programming instructions defining operating logic 1208. Asillustrated, the memory 1206 may be included with the processing device1202 and/or coupled to the processing device 1202 depending on theparticular embodiment. For example, in some embodiments, the processingdevice 1202, the memory 1206, and/or other components of the computingdevice 1200 may form a portion of a system-on-a-chip (SoC) and beincorporated on a single integrated circuit chip.

In some embodiments, various components of the computing device 1200(e.g., the processing device 1202 and the memory 1206) may becommunicatively coupled via an input/output subsystem, which may beembodied as circuitry and/or components to facilitate input/outputoperations with the processing device 1202, the memory 1206, and othercomponents of the computing device 1200. For example, the input/outputsubsystem may be embodied as, or otherwise include, memory controllerhubs, input/output control hubs, firmware devices, communication links(i.e., point-to-point links, bus links, wires, cables, light guides,printed circuit board traces, etc.) and/or other components andsubsystems to facilitate the input/output operations.

The computing device 1200 may include other or additional components,such as those commonly found in a typical computing device (e.g.,various input/output devices and/or other components), in otherembodiments. It should be further appreciated that one or more of thecomponents of the computing device 1200 described herein may bedistributed across multiple computing devices. In other words, thetechniques described herein may be employed by a computing system thatincludes one or more computing devices. Additionally, although only asingle processing device 1202, I/O device 1204, and memory 1206 areillustratively shown in FIG. 24, it should be appreciated that aparticular computing device 1200 may include multiple processing devices1202, I/O devices 1204, and/or memories 1206 in other embodiments.Further, in some embodiments, more than one external device 1210 may bein communication with the computing device 1200.

Certain embodiments of the present application relate to an unmannedaerial vehicle, comprising: a chassis; a power supply mounted to thechassis; a control system operable to receive power from the powersupply; a plurality of arms extending outward from the chassis, whereineach arm comprises: an arm inner end portion connected to the chassis;an arm outer end portion opposite the arm inner end portion; an arm bodyextending between and connecting the arm inner end portion and the armouter end portion; and a rotor mounted to the arm outer end portion,wherein the rotor is in communication with the control system and isoperable to generate lift under control of the control system; and asupport structure mounted atop the chassis, the support structurecomprising a plurality of struts and an apex region, wherein each strutcomprises: a strut outer end portion connected with the arm inner endportion of a corresponding arm of the plurality of arms; a strut innerend portion connected with the apex region; and a strut body extendingbetween and connecting the strut outer end portion and the strut innerend portion.

In certain embodiments, each strut body comprises an opening defined inpart by a reinforcing rib.

In certain embodiments, each strut body is curved to define an arch.

In certain embodiments, the plurality of struts defines a plurality ofarches; and wherein each arch comprises a corresponding pair of strutsin which the strut inner end portions of the pair of struts areconnected to one another to define the corresponding arch.

In certain embodiments, the plurality of arms comprises a first arm, asecond arm opposite the first arm, a third arm, and a fourth armopposite the third arm; wherein the plurality of struts comprises: afirst strut, wherein the strut outer end portion of the first strut isconnected with the arm inner end portion of the first arm; a secondstrut opposite the first strut, wherein the strut outer end portion ofthe second strut is connected with the arm inner end portion of thesecond arm; a third strut, wherein the strut outer end portion of thethird strut is connected with the arm inner end portion of the thirdarm; and a fourth strut opposite the third strut, wherein the strutouter end portion of the fourth strut is connected with the arm innerend portion of the fourth arm; wherein the strut inner end portions ofthe first strut and the second strut are joined to form a first arch;and wherein the strut inner end portions of the third strut and thefourth strut are joined to form a second arch.

In certain embodiments, the first arch comprises a first integrallyformed structure, and wherein the second arch comprises a secondintegrally formed structure.

In certain embodiments, the unmanned aerial vehicle further comprises adetection-and-ranging device mounted to the apex region and incommunication with the control system.

In certain embodiments, the unmanned aerial vehicle further comprises alanding apparatus extending below the chassis; wherein the landingapparatus comprises: a first leg comprising a first contact surfaceconnected with the power supply via a first electrical conduit; and asecond leg comprising a second contact surface connected with the powersupply via a second electrical conduit; wherein the power supply isoperable to receive electrical power via the landing apparatus.

In certain embodiments, the first leg is electrically conductive anddefines the first contact surface and the first electrical conduit; andwherein the second leg is electrically conductive and defines the secondcontact surface and the second electrical conduit.

Certain embodiments of the present application relate to a systemincluding the unmanned aerial vehicle, the system further comprising acharging device, the charging device comprising a first contact padoperable to contact the first contact surface and a second contact padoperable to contact the second contact surface; wherein the chargingdevice is configured to apply a voltage differential to the firstcontact pad and the second contact pad to thereby deliver electricalcurrent to the power supply.

In certain embodiments, the charging device further comprises a nest,and wherein the first contact pad and the second contact pad arepositioned within the nest.

Certain embodiments of the present application relate to unmanned aerialvehicle, comprising: a chassis; a power supply mounted to the chassis; acontrol system operable to receive power from the power supply; aplurality of arms extending outward from the chassis, wherein theplurality of arms includes a first arm and a second arm, and whereineach arm comprises: an inner end portion connected to the chassis; anouter end portion opposite the arm inner end portion; and a rotormounted to the arm outer end portion, wherein the rotor is incommunication with the control system and is operable to generate liftunder control of the control system; and a support structure mountedatop the chassis, the support structure comprising a first arch, thefirst arch comprising: a first arch first end portion connected to theinner end portion of the first arm; a first arch second end portionconnected to the inner end portion of the second arm; and a first apexpositioned above the chassis.

In certain embodiments, the first arm is diametrically opposite thesecond arm.

In certain embodiments, the plurality of arms further comprises a thirdarm and a fourth arm; wherein the support structure further comprises asecond arch, the second arch comprising: a second arch first end portionconnected to the inner end portion of the third arm; a second archsecond end portion connected to the inner end portion of the fourth arm;and a second apex positioned above the chassis.

In certain embodiments, the support structure further comprises an apexregion comprising the first apex, the second apex, and a recessed seatdefined at least in part by the first arch and the second arch.

In certain embodiments, the unmanned aerial vehicle further comprises aranging-and-detection device seated in the recessed seat and incommunication with the control system.

In certain embodiments, the first apex is joined to the second apex.

In certain embodiments, the first arch comprises a plurality ofopenings.

In certain embodiments, the first arch further comprises at least onereinforcing rib that partially defines at least two of the openings.

Certain embodiments of the present application relate to an unmannedaerial vehicle, comprising: a chassis; a power supply mounted to thechassis; a control system operable to receive power from the powersupply; at least one rotor operable to generate lift under control ofthe control system; a winch mounted to the chassis, the winchcomprising: a reel having a line wound thereon, the line having a freeend; a motor operable to rotate the reel under control of the controlsystem to thereby cause the line to wind onto and off of the reel,thereby causing the free end of the line to raise and lower; and asevering mechanism operable to sever the line under control of thecontrol system.

In certain embodiments, the severing mechanism comprises a heatingelement configured to sever the line by causing the line to burn and/ormelt.

In certain embodiments, the heating element defines a tube through whichthe line extends.

In certain embodiments, the control system is further configured todetermine a fault condition based upon information received from one ormore electronic components of the unmanned aerial vehicle, and toactivate the severing mechanism to sever the line in response to thefault condition.

In certain embodiments, the severing mechanism is mounted to an armaturethrough which the line extends; wherein the armature is biased toward ahome position and is configured to move toward a shifted position inresponse to a load being borne by the line; wherein the winch furthercomprises a position sensor operable to detect a home/shifted positionof the armature; and wherein the control system is configured todetermine a loaded/unloaded state of the winch based upon thehome/shifted position sensed by the position sensor.

Certain embodiments of the present application relate to an unmannedaerial vehicle, comprising: a chassis; a power supply mounted to thechassis; a control system operable to receive power from the powersupply; at least one rotor operable to generate lift under control ofthe control system; and a winch mounted to the chassis, the winchcomprising: a reel having a line wound thereon, the line having a freeend; and a motor operable to rotate the reel under control of thecontrol system to thereby cause the line to wind onto and off of thereel, thereby causing the free end of the line to raise and lower;wherein the control system comprises a downward-facingranging-and-detection device, and is operable to determine a distancebetween the ranging-and-detection device and a surface below theranging-and-detection device based upon information generated by theranging-and-detection device; and wherein the control system isconfigured to operate the motor to cause the free end of the line to:accelerate toward the surface as the free end of the line passes througha first portion of the distance; and decelerate as the free end of theline passes through a lower portion of the distance.

In certain embodiments, the control system is further configured tooperate the motor to cause the free end of the line to lower toward thesurface at a controlled speed as the free end of the line passes throughan upper portion of the distance, and wherein the first portion of thedistance is between the upper portion of the distance and the lowerportion of the distance.

In certain embodiments, the controlled speed is a constant speed.

In certain embodiments, the unmanned aerial vehicle further comprises aposition sensor in communication with the control system; wherein theline extends through an armature such that the armature moves between afirst position and a second position in response to a pulling forcebeing applied to the free end of the line; wherein movement of thearmature between the first position and the second position alters anoutput of the position sensor; and wherein the control system isconfigured to determine a loaded/unloaded condition of the winch basedupon the output of the position sensor.

Certain embodiments of the present application relate to a method ofoperating an unmanned aerial vehicle (UAV), the method comprising:navigating the UAV to a destination comprising a designated surface,wherein the UAV comprises a winch including a line having a deliveryload releasably coupled to a free end of the line; determining adistance between the UAV and the designated surface; operating the winchto lower the delivery load toward the designated surface, comprising:increasing a delivery speed of the delivery load through a first zone ofthe distance; and reducing the delivery speed of the delivery loadthrough a second zone of the distance, wherein the second zone islocated below the first zone.

In certain embodiments, the method further comprises maintaining the UAVat a nominally constant hover height while operating the winch to lowerthe delivery load toward the designated surface.

In certain embodiments, the navigating, the determining, and theoperating are performed by a control system of the UAV.

In certain embodiments, operating the winch further comprises limitingthe delivery speed of the delivery load through a third zone of thedistance, wherein the third zone is located above the first zone.

In certain embodiments, the method further comprises releasing thedelivery load from the free end of the line in response to the deliveryload landing on the designated surface; and sensing release of thedelivery load via a load sensor of the winch.

In certain embodiments, the load sensor comprises a position sensorassociated with a movable armature through which the line extends, andwherein sensing release of the delivery load comprises sensing aposition of the armature.

In certain embodiments, the method further comprises operating the winchto raise the free end of the line in response to sensing release of thedelivery load.

Certain embodiments of the present application relate to an unmannedaerial vehicle, comprising: a chassis; a power supply mounted to thechassis; a control system operable to receive power from the powersupply; at least one rotor operable to generate lift under control ofthe control system; and a winch mounted to the chassis, the winchcomprising: a reel having a line wound thereon, the line having a freeend, wherein the reel comprises a circumferential channel in which awound portion of the line is wound onto the reel, wherein thecircumferential channel comprises an inner portion, an outer portion,and a passage connecting the inner portion and the outer portion; and amotor operable to rotate the reel under control of the control system tothereby cause the line to wind onto and off of the reel, thereby causingthe free end of the line to raise and lower.

In certain embodiments, the passage has a passage width; wherein theinner portion has an inner portion width; and wherein the passage widthis less than the inner portion width.

In certain embodiments, the outer portion tapers inward from an outerportion maximum width to an outer portion minimum width, and wherein theouter portion minimum width is defined between the outer portion maximumwidth and the passage.

In certain embodiments, the reel comprises a circumferential ridge thatat least partially defines the passage.

In certain embodiments, the reel further comprises a circumferentialgroove facing an apex of the circumferential ridge, the circumferentialgroove further defining the passage.

In certain embodiments, the reel further comprises: a first portioncomprising the circumferential ridge; and a second portion comprisingthe circumferential groove; wherein the first portion and the secondportion are coupled to one another.

Certain embodiments of the present application relate to an unmannedaerial vehicle, comprising: a chassis; a power supply mounted to thechassis; a control system operable to receive power from the powersupply; at least one rotor operable to generate lift under control ofthe control system; a winch mounted to the chassis, the winchcomprising: a reel having a line wound thereon; an attachment devicecoupled to a free end of the line, the attachment device configured toreleasably attach a load to the line such that the unmanned aerialvehicle is operable to transport the load; and a motor operable torotate the reel under control of the control system to thereby cause theline to wind onto and off of the reel, thereby causing the free end ofthe line to raise and lower.

In certain embodiments, the attachment device comprises: a hook-shapedbody portion coupled to the free end of the line, the hook-shaped bodyportion defining a hook recess; a lever pivotably mounted to thehook-shaped body portion, the lever having a first position in which thelever covers the hook recess, the lever having a second position inwhich the lever does not cover the hook recess; and a biasing memberurging the lever toward the first position.

In certain embodiments, an upper surface of the lever defines a rampconfigured to urge an object away from the hook recess when the lever isin the first position.

In certain embodiments, a load is attached to the attachment device;wherein a ring of the load is seated in the hook recess and maintainsthe lever in the second position; wherein the ring is configured to moveout of the hook recess when the load is supported by a surface below theunmanned aerial vehicle, thereby causing the lever to move to the firstposition under force of the biasing member; and wherein the ramp isconfigured to urge the ring out of engagement with the lever uponraising of the attachment device by the control system.

Certain embodiments of the present application relate to an unmannedaerial vehicle, comprising: a chassis comprising: a first batterycompartment configured to receive sliding insertion of a first battery,the first battery compartment comprising a first latch configured toreleasably lock the first battery within the first battery compartmentwhen engaged by the first battery; and a second battery compartmentconfigured to receive sliding insertion of a second battery, the secondbattery compartment comprising a second latch configured to releasablylock the second battery within the second battery compartment whenengaged by the second battery; a control system operable to receivepower from the first battery and the second battery; and at least onerotor operable to generate lift under control of the control system whenboth the first battery and the second battery are installed to thechassis; wherein each of the first latch and the second latch isindependently operable to releasably lock the corresponding batterywithin the corresponding battery compartment such that the secondbattery is operable to be removed while the first battery remainsinstalled; and wherein the control system is configured to remain atleast partially active under power supplied by the first battery whenthe second battery is removed from the chassis.

In certain embodiments, the control system is configured to remain fullyactive under power supplied by the first battery when the second batteryis removed from the chassis.

In certain embodiments, the control system is further configured toremain at least partially active under power supplied by the secondbattery when the first battery is removed from the chassis.

In certain embodiments, the at least one rotor is configured to generatethe lift to urge the chassis along a vertical axis; wherein the firstbattery compartment is configured to receive sliding insertion of thefirst battery along a first horizontally-extending insertion axis; andwherein the second battery compartment is configured to receive slidinginsertion of the second battery along a second horizontally-extendinginsertion axis.

In certain embodiments, the chassis further comprises at least oneadditional battery compartment configured to receive sliding insertionof at least one additional battery, each additional battery compartmentcomprising an additional latch configured to releasably lock thecorresponding additional battery within the corresponding additionalbattery compartment when engaged by the corresponding additionalbattery; wherein the unmanned aerial vehicle is operable to fly when theat least one additional battery is installed to the chassis; and whereinthe unmanned aerial vehicle is operable to fly when the at least oneadditional battery is not installed to the chassis.

In certain embodiments, the at least one additional battery compartmentcomprises two additional battery compartments; and wherein the at leastone additional battery comprises two additional batteries.

In certain embodiments, the unmanned aerial vehicle further comprises alanding apparatus including a plurality of electrically-conductive legs;wherein at least one of the first battery or the second battery isoperable to receive electrical power via the plurality ofelectrically-conductive legs.

Certain embodiments of the present application relate to a method ofoperating an unmanned aerial vehicle (UAV), the method comprising:installing a first battery to a chassis of the UAV such that a controlsystem of the UAV is operable to receive electrical power from the firstbattery; with the first battery installed to the chassis, performing aninitialization procedure to activate the control system; with the firstbattery installed to the chassis, installing a second battery to thechassis such that the control system is operable to receive electricalpower from each of the first battery and the second battery; with thesecond battery installed, removing the first battery from the chassis ofthe UAV such that the control system is inoperable to receive electricalpower from the first battery; with the first battery removed and thesecond battery installed, continuing to operate the control system underpower received from the second battery without repeating theinitialization procedure.

In certain embodiments, the method further comprises: replacing thefirst battery with a third battery such that the control system isoperable to receive electrical power from each of the second battery andthe third battery; and operating the UAV with the second battery and thethird battery installed.

In certain embodiments, the method further comprises: after replacingthe first battery with the third battery, replacing the second batterywith a fourth battery; and while replacing the second battery with thefourth battery, continuing to operate the control system under powerreceived from the third battery.

In certain embodiments, the method further comprises: after performingthe initialization procedure and before removing the first battery,operating the UAV, thereby draining electrical power from the firstbattery.

In certain embodiments, performing the initialization procedurecomprises calibrating at least one electronic component of the UAV.

Certain embodiments of the present application relate to an unmannedaerial vehicle, comprising: a chassis comprising a battery compartment;a battery mounted in the battery compartment, wherein the battery isslidable relative to the battery compartment along an insertion/removalaxis; a control system operable to receive power from the battery; atleast one rotor operable to generate lift under control of the controlsystem; and a latch mechanism operable to selectively limit movement ofthe battery along the insertion/removal axis, the latch mechanismcomprising: a first component comprising a first channel; and a secondcomponent comprising a spline operable to be received in each of thefirst channel and the second channel; wherein one of the first componentor the second component is a movable component and further comprises aflange; wherein the latch mechanism has a closed state in which themovable component is in a first rotational position, the spline isreceived in the first channel, and the flange prevents removal of thebattery from the battery compartment; and wherein the latch mechanismhas an open state in which the movable component is in a secondrotational position, the spline is removed from the first channel, andthe flange does not prevent removal of the battery from the batterycompartment.

In certain embodiments, engagement between the first channel and thespline prevents rotation of the movable component from the firstrotational position to the second rotational position when the spline isreceived in the first channel.

In certain embodiments, the movable component is rotatable between thefirst rotational position and the second rotational position uponlifting of the movable component in a vertical direction to remove thespline from the first channel.

In certain embodiments, the first component further comprises a secondchannel; and wherein with the latch mechanism in the open state, thespline is received in the second channel.

In certain embodiments, engagement between the second channel and thespline prevents rotation of the movable component from the secondrotational position to the first rotational position when the spline isreceived in the second channel.

In certain embodiments, the movable component further comprises a knobconfigured to facilitate movement of the movable component.

Certain embodiments of the present application relate to an unmannedaerial vehicle, comprising: a chassis; a power supply mounted to thechassis; a control system operable to receive power from the powersupply; at least one rotor operable to generate lift under control ofthe control system; a carriage mounted to the chassis, the carriagecomprising: a first grip; a second grip spaced apart from the first gripsuch that a receiving space is defined between the first grip and thesecond grip, the second grip having a first capturing position and afirst releasing position, wherein movement of the second grip from thefirst capturing position to the first releasing position expands thereceiving space; and a driver operable to selectively retain the secondgrip in the first capturing position, wherein the driver is operable todrive a driver shaft between a second capturing position and a secondreleasing position; wherein the control system is in communication withthe driver and is operable to actuate the driver to move the drivershaft between the second capturing position and the second releasingposition; and wherein the second grip is configured to move from thefirst capturing position to the first releasing position in response tomovement of the driver shaft from the second capturing position to thesecond releasing position.

In certain embodiments, the driver comprises a rotary motor configuredto rotate the driver shaft between the second capturing position and thesecond releasing position.

In certain embodiments, the carriage further comprises a carriage lockmechanism configured to retain the second grip in the first capturingposition while the driver shaft is in the second capturing positionwithout urging the driver shaft toward the second releasing position.

In certain embodiments, the second grip is connected with a retentionarm; wherein the retention arm is rotatably mounted to a locking shaft;wherein the carriage further comprises a latch device, the latch devicehaving: a latching state in which the latch device prevents rotation ofthe locking arm from a home position, thereby retaining the second gripin the first capturing position; and an unlatching state in which thelatch device permits rotation of the locking arm from the home position,thereby permitting movement of the second grip from the first capturingposition to the first releasing position; and wherein movement of thedriver shaft from the second capturing position to the second releasingposition transitions the latch device from the latching state to theunlatching state.

In certain embodiments, the latch device comprises a latchbolt having aprojected position in the latching state and a depressed position in theunlatching state; and wherein the latchbolt is configured to move fromthe projected position to the depressed position in response to movementof the drive shaft from the second capturing position to the secondreleasing position.

In certain embodiments, the latch device further comprises a biasingmechanism urging the latchbolt toward the projected position.

In certain embodiments, the driver comprises a rotary motor configuredto rotate the driver shaft between the second capturing position and thesecond releasing position; wherein the carriage further comprises a camshaft engaged with the driver shaft such that rotation of the drivershaft causes a corresponding rotation of the cam shaft; wherein the camshaft comprises a lobe operable to engage the latchbolt; wherein thelobe is configured to retain the latchbolt in the depressed positionwhen the driver shaft is in the second releasing position; and whereinthe biasing mechanism retains the latchbolt in the projected positionwhen the driver shaft is in the second capturing position.

In certain embodiments, the carriage further comprises a latch device,the latch device having a latching state when the driver shaft is in thesecond capturing position, the latch device having an unlatching statewhen the driver shaft is in the second releasing position; wherein thelatch device in the latching state retains the second grip in the firstcapturing position; and wherein the latch device in the unlatching statepermits movement of the second grip from the first capturing position tothe first releasing position.

In certain embodiments, the driver comprises a rotary motor configuredto rotate the driver shaft between the second capturing position and thesecond releasing position; wherein the carriage further comprises a camshaft engaged with the driver shaft such that rotation of the drivershaft causes a corresponding rotation of the cam shaft; and wherein thecam shaft comprises a lobe that moves the latch device between thelatching state and the unlatching state as the driver shaft rotatesbetween the second capturing position and the second releasing position.

Certain embodiments of the present application relate to a carriageconfigured for mounting to an unmanned aerial vehicle, the carriagecomprising: a housing assembly configured for mounting to the unmannedaerial vehicle; a movable grip mounted to the housing assembly formovement between a capturing position and a releasing position; a latchdevice having a latching state and an unlatching state, wherein thelatch device is configured to retain the movable grip in the capturingposition when the latch device is in the latching state, and wherein thelatch device is configured to permit movement of the movable grip fromthe capturing position to the releasing position when in the unlatchingstate; and a driver operable to transition the latch device from thelatching state to the unlatching state.

In certain embodiments, the latch device in the latching state isconfigured to retain the movable grip in the capturing position withouttransmitting force from the movable grip to the driver.

In certain embodiments, the carriage further comprises a locking shaftrotatably mounted to the housing assembly, wherein the locking shaft isengaged with the movable grip such that movement of the movable gripfrom the capturing position to the releasing position is correlated withrotation of the locking shaft from a home position to a rotatedposition; and wherein the latch device is engaged between the housingassembly and the locking shaft; wherein the latch device in the latchingstate is configured to retain the locking shaft in the home position tothereby retain the movable grip in the capturing position; and whereinthe latch device in the unlatching state is configured to permitrotation of the locking shaft from the home position toward the rotatedposition to thereby enable movement of the movable grip from thecapturing position to the releasing position.

In certain embodiments, the carriage further comprises a cam shaftoperably connected with the driver such that the driver is operable torotate the cam shaft between a locking position and an unlockingposition; wherein the latch device comprises a biasing mechanism urgingthe latch device toward the latching state; wherein rotation of the camshaft from the locking position to the unlocking position causes a lobeof the cam shaft to drive the latch device to the unlatching stateagainst the urging of the biasing mechanism; and wherein rotation of thecam shaft from the unlocking position to the locking position enablesthe latch mechanism to move to the latching state under the urging ofthe biasing mechanism.

In certain embodiments, the latch device comprises a latchbolt movablymounted within the locking shaft, the latchbolt having a projectedposition in which the latchbolt engages the housing assembly andprevents rotation of the locking shaft relative to the housing assembly,the latchbolt having a depressed position in which the latchbolt permitsrotation of the locking shaft relative to the housing assembly; whereinthe biasing mechanism urges the latchbolt toward the projected position;and wherein rotation of the cam shaft from the locking position to theunlocking position causes the lobe to drive the latchbolt toward thedepressed position.

Certain embodiments of the present application relate to an unmannedaerial vehicle (UAV) comprising the carriage, wherein the carriage ismounted to an underside of a chassis of the UAV, and wherein the UAVfurther comprises a control system in communication with the driver andoperable to control the driver to transition the latch device betweenthe latching state and the unlatching state.

In certain embodiments, the UAV further comprises: a power supplymounted to the chassis; and at least one rotor operable to generate liftunder control of the control system.

Certain embodiments of the present application relate to a chargingstation for an unmanned aerial vehicle (UAV), the charging stationcomprising: a nest including an upper portion and a lower portion,wherein the upper portion defines an upper opening sized and shaped toreceive a landing apparatus of the UAV, wherein a diameter of the nestreduces from a first diameter at the upper opening to a second diameterat the lower portion; and a charging device mounted in the nest, thecharging device including a first contact pad and a second contact padelectrically isolated from the first contact pad; wherein the chargingdevice is configured to apply a voltage differential across the firstcontact pad and the second contact pad such that the charging station isoperable to charge a power supply of the UAV via the landing apparatus.

In certain embodiments, the charging station is configured forconnection to line power, and is configured to apply the voltagedifferential using electrical power received from the line power.

In certain embodiments, the charging station is configured forconnection to a mobile power source, and is configured to apply thevoltage differential using electrical power received from the mobilepower source.

In certain embodiments, the nest is defined at least in part by asidewall, and wherein the sidewall is curved within a plane including acentral axis of the nest.

In certain embodiments, the nest is defined at least in part by asidewall, and wherein the sidewall extends at an oblique angle relativeto a central axis of the nest.

In certain embodiments, the charging station further comprises atwo-dimensional barcode configured to provide orientation information tothe UAV.

In certain embodiments, the lower portion defines a lower opening havinga third diameter less than the first diameter and the second diameter.

In certain embodiments, the nest includes at least one sidewall thatextends between and at least partially defines the upper portion and thelower portion; and wherein each of the first contact pad and the secondcontact pad is positioned at least partially on the sidewall.

Certain embodiments of the present application relate to a systemincluding the charging station, and further comprising the UAV; whereinthe landing apparatus of the UAV includes a plurality of electricalconduits connected with the power supply; and wherein the chargingstation is configured to charge the power supply when a first of theelectrical conduits is in contact with the first contact pad and asecond of the electrical conduits is in contact with the second contactpad.

Certain embodiments of the present application relate to a system,comprising: an unmanned aerial vehicle (UAV) comprising: a chassis; apower supply mounted to the chassis; a control system operable to drawpower from the power supply; at least one rotor configured to generatelift under control of the control system; and a landing apparatusattached to the chassis, the landing apparatus having a landingapparatus diameter; a mobile base station for the UAV, the mobile basestation comprising: a vehicle; and a nest mounted to the vehicle,wherein the nest includes an upper portion and a lower portion, whereinthe upper portion includes an upper opening having an upper openingdiameter greater than the landing apparatus diameter, and wherein thelower portion has a lower portion diameter less than the upper openingdiameter.

In certain embodiments, the vehicle comprises a ceiling; and wherein thenest is mounted to the ceiling.

In certain embodiments, the vehicle further comprises a stowagecompartment beneath the nest; and wherein the lower portion defines alower opening at least selectively open to the stowage compartment.

In certain embodiments, the system further comprises a movable baseplate operable to close the lower opening.

In certain embodiments, the lower opening has a lower opening diameterless than the landing apparatus diameter.

In certain embodiments, the landing apparatus comprises a plurality offeet; wherein each foot includes a heel and a toe; wherein the heelsdefine an outer perimeter; and wherein the toes are positioned withinthe outer perimeter.

Certain embodiments of the present application relate to a method ofoperating a system comprising an unmanned aerial vehicle (UAV) and abase station, wherein the base station comprises a nest, wherein thenest comprises an upper opening having an upper opening diameter and alower opening having a lower opening diameter less than the upperopening diameter, and wherein the lower opening is accessible fromwithin the base station, the method comprising: landing the UAV withinthe nest such that a portion of the UAV is accessible via the loweropening; releasably attaching a load to the UAV; and operating the UAVto deliver the load to a destination.

In certain embodiments, the UAV comprises a winch operable to raise andlower a line, and wherein releasably attaching the load to the UAVcomprises releasably attaching the load to the line.

In certain embodiments, a free end of the line has a gravity hookattached thereto, and wherein releasably attaching the load to the linecomprises releasably attaching the load to the gravity hook.

In certain embodiments, the nest further comprises a first contact padand a second contact pad electrically isolated from the first contactpad; wherein the UAV comprises an onboard power supply and a landingapparatus electrically connected with the onboard power supply; whereinlanding the UAV within the nest comprises placing a first contactsurface of the landing apparatus in contact with the first contact padand placing a second contact surface of the landing apparatus in contactwith the second contact pad; and wherein the method further comprisesapplying a voltage differential across the first contact pad and thesecond contact pad, thereby charging the onboard power supply via thelanding apparatus.

In certain embodiments, the base station further comprises atwo-dimensional barcode providing the UAV with orientation information;wherein landing the UAV within the nest comprises orienting the UAVbased upon the orientation information; and wherein orienting the UAVbased upon the orientation information comprises aligning the firstcontact surface with the first contact pad and aligning the secondcontact surface with the second contact pad.

In certain embodiments, the method further comprises operating a beaconto provide a homing signal to the UAV; wherein landing the UAV withinthe nest comprises landing the UAV within the nest based at least inpart upon the homing signal.

In certain embodiments, the base station is a mobile base stationcomprising a vehicle.

In certain embodiments, the vehicle comprises a stowage cabin and aceiling covering the stowage cabin; wherein the lower opening isaccessible from within the stowage cabin; and wherein the releasablyattaching the load to the UAV is performed from within the stowagecabin.

In certain embodiments, the method further comprises: while operatingthe UAV to deliver the load to a destination, operating the vehicle todeliver a second load to a second destination remote from the firstdestination.

In certain embodiments, the method further comprises: providing the UAVwith location information relating to a location of the destination;wherein the UAV operates autonomously to deliver the load to thedestination based on the location information.

Certain embodiments of the present application relate to a mobile basestation, comprising: a delivery vehicle comprising a stowage compartmentand a roof covering the stowage compartment and separating an interiorof the stowage compartment from an exterior of the stowage compartment;and a nest mounted to the roof, the nest comprising: an upper portioncomprising an upper opening accessible from the exterior of the stowagecompartment, the upper opening having an upper opening diameter; a lowerportion comprising a lower opening accessible from the interior of thestowage compartment, the lower opening having a lower opening diameterless than the upper opening diameter.

In certain embodiments, the nest has a central axis and comprises atleast one sidewall extending between the upper portion and the lowerportion; wherein the at least one sidewall is angled and/or curvedrelative to the central axis.

In certain embodiments, the at least one sidewall defines an obliqueangle relative to the central axis.

In certain embodiments, the delivery vehicle is a land delivery vehiclecomprising a plurality of wheels and a prime mover operable to rotate atleast one of the plurality of wheels.

In certain embodiments, the nest extends through the roof such that theupper opening is positioned in the exterior of the stowage compartmentand the lower opening is positioned in the interior of the stowagecompartment.

In certain embodiments, the nest further comprises a landing zone, thelanding zone having a landing zone diameter greater than the loweropening diameter and less than the upper opening diameter.

In certain embodiments, the delivery vehicle comprises a trailer.

While the invention has been illustrated and described in detail in thedrawings and foregoing description, the same is to be considered asillustrative and not restrictive in character, it being understood thatonly the preferred embodiments have been shown and described and thatall changes and modifications that come within the spirit of theinventions are desired to be protected.

It should be understood that while the use of words such as preferable,preferably, preferred or more preferred utilized in the descriptionabove indicate that the feature so described may be more desirable, itnonetheless may not be necessary and embodiments lacking the same may becontemplated as within the scope of the invention, the scope beingdefined by the claims that follow. In reading the claims, it is intendedthat when words such as “a,” “an,” “at least one,” or “at least oneportion” are used there is no intention to limit the claim to only oneitem unless specifically stated to the contrary in the claim. When thelanguage “at least a portion” and/or “a portion” is used the item caninclude a portion and/or the entire item unless specifically stated tothe contrary.

1-20. (canceled)
 21. A charging station for a plurality of unmannedaerial vehicles (UAVs), the plurality of UAVs comprising a first UAV anda second UAV, the charging station comprising: a nest including an upperportion and a lower portion, wherein the upper portion defines an upperopening, wherein the nest has a greater diameter at the upper openingand a lesser diameter at the lower portion, wherein the nest defines afirst rest position for the first UAV, wherein the nest defines a secondrest position for the second UAV, and wherein the second rest positionis vertically offset from the first rest position; and a charger mountedin the nest, wherein the charger is configured to charge a first powersupply of the first UAV when the first UAV is in the first restposition, and wherein the charger is configured to charge a second powersupply of the second UAV when the second UAV is in the second restposition.
 22. The charging station of claim 21, wherein the charger isconfigured to contact a first charge terminal of the first UAV when thefirst UAV is in the first rest position, and to charge the first powersupply via the first charge terminal; and wherein the charger isconfigured to contact a second charge terminal of the second UAV whenthe second UAV is in the second rest position, and to charge the secondpower supply via the second charge terminal.
 23. The charging station ofclaim 22, wherein the charger is configured to contact a third chargeterminal of the first UAV when the first UAV is in the first restposition, and to charge the first power supply by applying a firstvoltage differential across the first charge terminal and the thirdcharge terminal; and wherein the charger is configured to contact afourth charge terminal of the second UAV when the second UAV is in thesecond rest position, and to charge the second power supply by applyinga second voltage differential across the second charge terminal and thefourth charge terminal.
 24. The charging station of claim 23, whereinthe charger comprises: a first contact pad configured to contact thefirst charge terminal when the first UAV is in the first rest positionand to contact the second charge terminal when the second UAV is in thesecond rest position; and a second contact pad configured to contact thethird charge terminal when the first UAV is in the first rest positionand to contact the fourth charge terminal when the second UAV is in thesecond rest position; wherein the charger is operable to apply each ofthe first voltage differential and the second voltage differentialacross the first contact pad and the second contact pad.
 25. Thecharging station of claim 21, wherein the charger comprises a firstcontact pad and a second contact pad, and is operable to charge each ofthe first power supply and the second power supply by applying one ormore voltage differentials across the first contact pad and the secondcontact pad.
 26. The charging station of claim 25, wherein each of thefirst contact pad and the second contact pad extends along a sidewall ofthe nest.
 27. The charging station of claim 26, wherein the sidewall isangled or curved relative to a central nest axis of the nest.
 28. Thecharging station of claim 21, wherein the nest is substantiallyfrustoconical.
 29. A system comprising the charging station of claim 1,the system further comprising the plurality of UAVs.
 30. The system ofclaim 28, wherein the second UAV is larger than the first UAV.
 31. Acharging station for a plurality of unmanned aerial vehicles (UAVs), theplurality of UAVs comprising a first UAV and a second UAV, the chargingstation comprising: a nest that defines a first rest position for thefirst UAV and a second rest position for the second UAV, wherein thefirst rest position is located above the second rest position; and acharger positioned at least partially in the nest, wherein the chargeris operable to charge a first power supply of the first UAV when thefirst UAV is in the first rest position, and wherein the charger isoperable to charge a second power supply of the second UAV when thesecond UAV is in the second rest position.
 32. The charging station ofclaim 31, wherein the nest is tapered and/or curved inward relative to acentral nest axis from a greater upper diameter to a lesser lowerdiameter.
 33. The charging station of claim 31, wherein the chargercomprises a first contact pad and a second contact pad, wherein each ofthe first contact pad and the second contact pad extends vertically andaway from a central nest axis of the nest.
 34. The charging station ofclaim 33, wherein the charger is configured to apply one or more voltagedifferentials across the first contact pad and the second contact pad tothereby charge the first power supply and the second power supply.
 35. Asystem comprising the charging station of claim 31, wherein the systemfurther comprises the plurality of UAVs.
 36. The system of claim 35,wherein the first UAV is larger than the second UAV.
 37. A method ofoperating a charging station comprising a nest and a charger, the methodcomprising: receiving a first unmanned aerial vehicle (UAV) within thenest such that the first UAV comes to rest at a first rest position;with the first UAV in the first rest position, operating the charger tothereby charge a first power supply of the first UAV; receiving a secondUAV within the nest such that the second UAV comes to rest at a secondrest position vertically offset from the first rest position; and withthe second UAV in the second rest position, operating the charger tothereby charge a second power supply of the second UAV.
 38. The methodof claim 37, further comprising: during descent of the first UAV,urging, by a sidewall of the nest, the first UAV toward the first restposition and toward a central nest axis of the nest; and during descentof the second UAV, urging, by the sidewall of the nest, the second UAVtoward the second rest position and toward the central nest axis of thenest.
 39. The method of claim 37, wherein the first UAV comprises afirst landing apparatus having a first effective diameter; and whereinthe second UAV comprises a second landing apparatus having a secondeffective diameter different from the first effective diameter.
 40. Themethod of claim 37, wherein the charger comprises: a first contact padthat extends upward and away from a central nest axis of the nest andalong a sidewall of the nest; and a second contact pad that extendsupward and away from the central nest axis and along the sidewall.